2021-08-14T00:39:40.662Z,1628901580.662 [Supervisor](DEBUG): Initializing supervisor.
2021-08-14T00:39:40.667Z,1628901580.667 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-08-14T00:39:40.667Z,1628901580.667 [SyncHandler](INFO): Protected caller Thread ID is 837
2021-08-14T00:39:40.668Z,1628901580.668 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-08-14T00:39:40.669Z,1628901580.669 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-08-14T00:39:40.669Z,1628901580.669 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 838
2021-08-14T00:39:40.673Z,1628901580.673 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-08-14T00:39:40.693Z,1628901580.693 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-08-14T00:39:40.694Z,1628901580.694 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-08-14T00:39:40.695Z,1628901580.695 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 839
2021-08-14T00:39:40.697Z,1628901580.697 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-08-14T00:39:40.698Z,1628901580.698 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-08-14T00:39:40.698Z,1628901580.698 [logger ThreadHandler](INFO): Protected caller Thread ID is 840
2021-08-14T00:39:40.702Z,1628901580.702 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-08-14T00:39:40.703Z,1628901580.703 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-08-14T00:39:40.708Z,1628901580.708 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-08-14T00:39:41.222Z,1628901581.222 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-08-14T00:39:41.223Z,1628901581.223 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-08-14T00:39:41.305Z,1628901581.305 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-08-14T00:39:41.677Z,1628901581.677 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-08-14T00:39:41.678Z,1628901581.678 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-08-14T00:39:41.793Z,1628901581.793 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-08-14T00:39:41.794Z,1628901581.794 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-08-14T00:39:42.013Z,1628901582.013 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-08-14T00:39:42.015Z,1628901582.015 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-08-14T00:39:42.593Z,1628901582.593 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-08-14T00:39:42.595Z,1628901582.595 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-08-14T00:39:42.861Z,1628901582.861 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-08-14T00:39:42.863Z,1628901582.863 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-08-14T00:39:43.025Z,1628901583.025 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-08-14T00:39:43.026Z,1628901583.026 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-08-14T00:39:43.244Z,1628901583.244 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-08-14T00:39:43.244Z,1628901583.244 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-08-14T00:39:43.345Z,1628901583.345 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-08-14T00:39:43.346Z,1628901583.346 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-08-14T00:39:43.598Z,1628901583.598 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-08-14T00:39:43.599Z,1628901583.599 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-08-14T00:39:44.583Z,1628901584.583 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-08-14T00:39:44.584Z,1628901584.584 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-08-14T00:39:44.667Z,1628901584.667 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-08-14T00:39:44.803Z,1628901584.803 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-08-14T00:39:44.805Z,1628901584.805 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-08-14T00:39:45.540Z,1628901585.540 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-08-14T00:39:45.542Z,1628901585.542 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-08-14T00:39:45.954Z,1628901585.954 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-08-14T00:39:45.955Z,1628901585.955 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-polaris/
2021-08-14T00:39:45.960Z,1628901585.960 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/vehicle.cfg
2021-08-14T00:39:46.184Z,1628901586.184 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Control.cfg
2021-08-14T00:39:46.291Z,1628901586.291 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Estimation.cfg
2021-08-14T00:39:46.398Z,1628901586.398 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/BIT.cfg
2021-08-14T00:39:46.502Z,1628901586.502 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Battery.cfg
2021-08-14T00:39:46.795Z,1628901586.795 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-08-14T00:39:46.795Z,1628901586.795 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Simulator.cfg
2021-08-14T00:39:46.885Z,1628901586.885 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Navigation.cfg
2021-08-14T00:39:46.985Z,1628901586.985 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Derivation.cfg
2021-08-14T00:39:47.121Z,1628901587.121 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/logger.cfg
2021-08-14T00:39:47.241Z,1628901587.241 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/secure.cfg
2021-08-14T00:39:47.330Z,1628901587.330 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Dock.cfg
2021-08-14T00:39:47.421Z,1628901587.421 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Servo.cfg
2021-08-14T00:39:47.537Z,1628901587.537 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/workSite.cfg
2021-08-14T00:39:47.642Z,1628901587.642 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Sensor.cfg
2021-08-14T00:39:47.860Z,1628901587.860 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Science.cfg
2021-08-14T00:39:48.041Z,1628901588.041 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-08-14T00:39:48.059Z,1628901588.059 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-08-14T00:39:49.275Z,1628901589.275 [AHRS_M2] Loaded
2021-08-14T00:39:49.275Z,1628901589.275 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-08-14T00:39:49.602Z,1628901589.602 [BackseatComponent] Loaded
2021-08-14T00:39:49.603Z,1628901589.603 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2021-08-14T00:39:49.604Z,1628901589.604 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 4079A4E0
2021-08-14T00:39:49.604Z,1628901589.604 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 934
2021-08-14T00:39:49.607Z,1628901589.607 [LcmUniversalReporter] Loaded
2021-08-14T00:39:49.607Z,1628901589.607 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2021-08-14T00:39:50.482Z,1628901590.482 [BPC1] Loaded
2021-08-14T00:39:50.483Z,1628901590.483 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-08-14T00:39:50.808Z,1628901590.808 [DataOverHttps] Loaded
2021-08-14T00:39:50.808Z,1628901590.808 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-08-14T00:39:50.810Z,1628901590.810 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407CA4E0
2021-08-14T00:39:50.810Z,1628901590.810 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 935
2021-08-14T00:39:50.833Z,1628901590.833 [DDM] Loaded
2021-08-14T00:39:50.833Z,1628901590.833 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2021-08-14T00:39:50.853Z,1628901590.853 [Depth_Keller] Loaded
2021-08-14T00:39:50.853Z,1628901590.853 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-08-14T00:39:50.858Z,1628901590.858 [DropWeight] Loaded
2021-08-14T00:39:50.858Z,1628901590.858 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-08-14T00:39:50.905Z,1628901590.905 [DUSBL_Hydroid] Loaded
2021-08-14T00:39:50.905Z,1628901590.905 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2021-08-14T00:39:50.944Z,1628901590.944 [Micromodem] Loaded
2021-08-14T00:39:50.944Z,1628901590.944 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2021-08-14T00:39:51.006Z,1628901591.006 [NAL9602] Loaded
2021-08-14T00:39:51.007Z,1628901591.007 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-08-14T00:39:51.037Z,1628901591.037 [Onboard] Loaded
2021-08-14T00:39:51.038Z,1628901591.038 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-08-14T00:39:51.039Z,1628901591.039 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 407FA4E0
2021-08-14T00:39:51.039Z,1628901591.039 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 936
2021-08-14T00:39:51.047Z,1628901591.047 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2021-08-14T00:39:51.058Z,1628901591.058 [PowerOnly] Loaded
2021-08-14T00:39:51.058Z,1628901591.058 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2021-08-14T00:39:51.070Z,1628901591.070 [Power24vConverter] Loaded
2021-08-14T00:39:51.070Z,1628901591.070 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-08-14T00:39:51.085Z,1628901591.085 [Radio_Surface] Loaded
2021-08-14T00:39:51.085Z,1628901591.085 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-08-14T00:39:51.087Z,1628901591.087 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4082A4E0
2021-08-14T00:39:51.087Z,1628901591.087 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 937
2021-08-14T00:39:51.133Z,1628901591.133 [RDI_Pathfinder] Loaded
2021-08-14T00:39:51.133Z,1628901591.133 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2021-08-14T00:39:51.161Z,1628901591.161 [RDI_PathfinderUp] Loaded
2021-08-14T00:39:51.161Z,1628901591.161 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2021-08-14T00:39:51.162Z,1628901591.162 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-08-14T00:39:51.163Z,1628901591.163 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-08-14T00:39:51.180Z,1628901591.180 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-08-14T00:39:51.181Z,1628901591.181 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-08-14T00:39:51.286Z,1628901591.286 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-08-14T00:39:51.286Z,1628901591.286 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-08-14T00:39:51.300Z,1628901591.300 [NavChart] Loaded
2021-08-14T00:39:51.301Z,1628901591.301 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-08-14T00:39:51.307Z,1628901591.307 [UniversalFixResidualReporter] Loaded
2021-08-14T00:39:51.307Z,1628901591.307 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-08-14T00:39:51.318Z,1628901591.318 [WorkSite] Loaded
2021-08-14T00:39:51.318Z,1628901591.318 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2021-08-14T00:39:51.319Z,1628901591.319 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-08-14T00:39:51.319Z,1628901591.319 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-08-14T00:39:51.453Z,1628901591.453 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-08-14T00:39:51.453Z,1628901591.453 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-08-14T00:39:51.671Z,1628901591.671 [BuoyancyServo] Loaded
2021-08-14T00:39:51.671Z,1628901591.671 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-08-14T00:39:51.694Z,1628901591.694 [ElevatorServo] Loaded
2021-08-14T00:39:51.694Z,1628901591.694 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-08-14T00:39:51.716Z,1628901591.716 [MassServo] Loaded
2021-08-14T00:39:51.716Z,1628901591.716 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-08-14T00:39:51.737Z,1628901591.737 [RudderServo] Loaded
2021-08-14T00:39:51.738Z,1628901591.738 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-08-14T00:39:51.758Z,1628901591.758 [ThrusterServo] Loaded
2021-08-14T00:39:51.758Z,1628901591.758 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-08-14T00:39:51.759Z,1628901591.759 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-08-14T00:39:51.759Z,1628901591.759 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-08-14T00:39:52.000Z,1628901592.000 [CTD_Seabird] Loaded
2021-08-14T00:39:52.000Z,1628901592.000 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-08-14T00:39:52.001Z,1628901592.001 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409544E0
2021-08-14T00:39:52.002Z,1628901592.002 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 939
2021-08-14T00:39:52.037Z,1628901592.037 [WetLabsSeaOWL_UV_A] Loaded
2021-08-14T00:39:52.037Z,1628901592.037 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2021-08-14T00:39:52.038Z,1628901592.038 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409844E0
2021-08-14T00:39:52.039Z,1628901592.039 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 940
2021-08-14T00:39:52.040Z,1628901592.040 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-08-14T00:39:52.040Z,1628901592.040 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-08-14T00:39:52.466Z,1628901592.466 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-08-14T00:39:52.468Z,1628901592.468 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-08-14T00:39:52.535Z,1628901592.535 [DepthRateCalculator] Loaded
2021-08-14T00:39:52.535Z,1628901592.535 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-08-14T00:39:52.541Z,1628901592.541 [PitchRateCalculator] Loaded
2021-08-14T00:39:52.541Z,1628901592.541 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-08-14T00:39:52.551Z,1628901592.551 [SpeedCalculator] Loaded
2021-08-14T00:39:52.551Z,1628901592.551 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-08-14T00:39:52.565Z,1628901592.565 [TempGradientCalculator] Loaded
2021-08-14T00:39:52.565Z,1628901592.565 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-08-14T00:39:52.570Z,1628901592.570 [YawRateCalculator] Loaded
2021-08-14T00:39:52.571Z,1628901592.571 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-08-14T00:39:52.594Z,1628901592.594 [ElevatorOffsetCalculator] Loaded
2021-08-14T00:39:52.594Z,1628901592.594 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-08-14T00:39:52.594Z,1628901592.594 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-08-14T00:39:52.595Z,1628901592.595 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-08-14T00:39:52.792Z,1628901592.792 [SBIT](DEBUG): Construct Startup Built In Test.
2021-08-14T00:39:52.805Z,1628901592.805 [SBIT] Loaded
2021-08-14T00:39:52.806Z,1628901592.806 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-08-14T00:39:52.809Z,1628901592.809 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-08-14T00:39:52.822Z,1628901592.822 [IBIT] Loaded
2021-08-14T00:39:52.822Z,1628901592.822 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-08-14T00:39:52.829Z,1628901592.829 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-08-14T00:39:52.936Z,1628901592.936 [CBIT] Loaded
2021-08-14T00:39:52.936Z,1628901592.936 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-08-14T00:39:52.937Z,1628901592.937 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-08-14T00:39:52.937Z,1628901592.937 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-08-14T00:39:53.026Z,1628901593.026 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-08-14T00:39:53.027Z,1628901593.027 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-08-14T00:39:53.176Z,1628901593.176 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-08-14T00:39:53.177Z,1628901593.177 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-08-14T00:39:53.256Z,1628901593.256 [VerticalControl](DEBUG): Construct VerticalControl.
2021-08-14T00:39:53.312Z,1628901593.312 [VerticalControl] Loaded
2021-08-14T00:39:53.312Z,1628901593.312 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-08-14T00:39:53.315Z,1628901593.315 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-08-14T00:39:53.354Z,1628901593.354 [HorizontalControl] Loaded
2021-08-14T00:39:53.355Z,1628901593.355 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-08-14T00:39:53.357Z,1628901593.357 [SpeedControl](DEBUG): Construct SpeedControl.
2021-08-14T00:39:53.359Z,1628901593.359 [SpeedControl] Loaded
2021-08-14T00:39:53.360Z,1628901593.360 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-08-14T00:39:53.363Z,1628901593.363 [LoopControl](DEBUG): Construct LoopControl.
2021-08-14T00:39:53.363Z,1628901593.363 [LoopControl] Loaded
2021-08-14T00:39:53.363Z,1628901593.363 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-08-14T00:39:53.364Z,1628901593.364 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-08-14T00:39:53.364Z,1628901593.364 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-08-14T00:39:53.410Z,1628901593.410 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-08-14T00:39:53.416Z,1628901593.416 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-08-14T00:39:53.419Z,1628901593.419 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-08-14T00:39:53.430Z,1628901593.430 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-08-14T00:39:53.431Z,1628901593.431 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B324E0
2021-08-14T00:39:53.432Z,1628901593.432 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 941
2021-08-14T00:39:53.436Z,1628901593.436 [Supervisor](INFO): Main Thread ID is 831
2021-08-14T00:39:53.436Z,1628901593.436 [Supervisor](DEBUG): Running supervisor.
2021-08-14T00:39:53.437Z,1628901593.437 [CommandLine ThreadHandler](INFO): Handler Thread ID is 942
2021-08-14T00:39:53.439Z,1628901593.439 [controlThread ThreadHandler](INFO): Handler Thread ID is 943
2021-08-14T00:39:53.440Z,1628901593.440 [controlThread](DEBUG): Initializing ControlThread
2021-08-14T00:39:53.448Z,1628901593.448 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-08-14T00:39:53.448Z,1628901593.448 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-08-14T00:39:53.449Z,1628901593.449 [WorkSite](DEBUG): Initializing WorkSite component.
2021-08-14T00:39:53.450Z,1628901593.450 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-08-14T00:39:53.450Z,1628901593.450 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-08-14T00:39:53.451Z,1628901593.451 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-08-14T00:39:53.451Z,1628901593.451 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-08-14T00:39:53.452Z,1628901593.452 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-08-14T00:39:53.452Z,1628901593.452 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-08-14T00:39:53.453Z,1628901593.453 [SBIT](INFO): Initialize SBIT Component.
2021-08-14T00:39:53.453Z,1628901593.453 [SBIT](IMPORTANT): git: 2021-08-12
2021-08-14T00:39:53.453Z,1628901593.453 [SBIT](INFO): git hash: 4ac1c7994e02762939ba6e7c4596a90b7f61f056
2021-08-14T00:39:53.454Z,1628901593.454 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-08-14T00:39:53.455Z,1628901593.455 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Thu Aug 6 12:04:53 PDT 2020
2021-08-14T00:39:53.456Z,1628901593.456 [SBIT](INFO): Beginning SBIT in 31.000000 seconds.
2021-08-14T00:39:53.457Z,1628901593.457 [IBIT](INFO): Initialize IBIT Component.
2021-08-14T00:39:53.458Z,1628901593.458 [CBIT](DEBUG): Initialize CBIT Component.
2021-08-14T00:39:53.459Z,1628901593.459 [logger ThreadHandler](INFO): Handler Thread ID is 944
2021-08-14T00:39:53.472Z,1628901593.472 [CBIT](DEBUG): Initialized mux pins.
2021-08-14T00:39:53.472Z,1628901593.472 [CBIT](DEBUG): Initializing the watchdog timer.
2021-08-14T00:39:53.476Z,1628901593.476 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 945
2021-08-14T00:39:53.484Z,1628901593.484 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 946
2021-08-14T00:39:53.485Z,1628901593.485 [DataOverHttps](DEBUG): dashIP=128.128.181.155 starts with a digit so assuming it is a numeric IP
2021-08-14T00:39:53.492Z,1628901593.492 [Onboard ThreadHandler](INFO): Handler Thread ID is 947
2021-08-14T00:39:53.497Z,1628901593.497 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-08-14T00:39:53.497Z,1628901593.497 [CBIT](DEBUG): Initializing heartbeat.
2021-08-14T00:39:53.513Z,1628901593.513 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 948
2021-08-14T00:39:53.532Z,1628901593.532 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 949
2021-08-14T00:39:53.533Z,1628901593.533 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-08-14T00:39:53.537Z,1628901593.537 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 951
2021-08-14T00:39:53.538Z,1628901593.538 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-14T00:39:53.549Z,1628901593.549 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 952
2021-08-14T00:39:53.557Z,1628901593.557 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-08-14T00:39:53.557Z,1628901593.557 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-08-14T00:39:53.558Z,1628901593.558 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-08-14T00:39:53.558Z,1628901593.558 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-08-14T00:39:53.558Z,1628901593.558 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-08-14T00:39:53.558Z,1628901593.558 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-08-14T00:39:53.558Z,1628901593.558 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-08-14T00:39:53.558Z,1628901593.558 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-08-14T00:39:53.559Z,1628901593.559 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-08-14T00:39:53.559Z,1628901593.559 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-08-14T00:39:53.559Z,1628901593.559 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-08-14T00:39:53.559Z,1628901593.559 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-08-14T00:39:53.559Z,1628901593.559 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-08-14T00:39:53.560Z,1628901593.560 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-08-14T00:39:53.560Z,1628901593.560 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-08-14T00:39:53.560Z,1628901593.560 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-08-14T00:39:53.568Z,1628901593.568 [CBIT](DEBUG): Deactivating GF circuits.
2021-08-14T00:39:53.568Z,1628901593.568 [CBIT](DEBUG): Deactivating emergency mode.
2021-08-14T00:39:53.604Z,1628901593.604 [CBIT](DEBUG): Backplane powered.
2021-08-14T00:39:53.604Z,1628901593.604 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-08-14T00:39:53.606Z,1628901593.606 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-08-14T00:39:53.607Z,1628901593.607 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-08-14T00:39:53.607Z,1628901593.607 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-08-14T00:39:53.609Z,1628901593.609 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-08-14T00:39:53.644Z,1628901593.644 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-14T00:39:53.656Z,1628901593.656 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

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

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

    </Aggregate>

</Mission>


2021-08-14T00:39:53.657Z,1628901593.657 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultWithUndock.xml
2021-08-14T00:39:53.803Z,1628901593.803 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2021-08-14T00:39:53.824Z,1628901593.824 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2021-08-14T00:39:53.841Z,1628901593.841 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2.000000 count
2021-08-14T00:39:53.845Z,1628901593.845 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2021-08-14T00:39:53.869Z,1628901593.869 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2021-08-14T00:39:53.873Z,1628901593.873 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2021-08-14T00:39:53.874Z,1628901593.874 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2021-08-14T00:39:53.916Z,1628901593.916 [Radio_Surface](INFO): Powering up
2021-08-14T00:39:54.013Z,1628901594.013 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2021-08-14T00:39:54.013Z,1628901594.013 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T00:39:54.066Z,1628901594.066 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-14T00:39:54.103Z,1628901594.103 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-08-14T00:39:54.129Z,1628901594.129 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-08-14T00:39:54.152Z,1628901594.152 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2021-08-14T00:39:54.158Z,1628901594.158 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Control="Tethys/Control"
         xmlns:Dock="Tethys/Dock"
         xmlns:Estimation="Tethys/Estimation"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Sensor="Tethys/Sensor"
         xmlns:Units="Tethys/Units"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                             Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                             Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="DefaultWithUndock">

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

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

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

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

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

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

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

    <Aggregate Id="LeaveDock">

        <Sequence/>

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

<!-- Acoustic tracking directives -->

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

<!-- Leave the dock -->

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

    </Aggregate>

    <Aggregate Id="SurfaceDefault">

        <Sequence/>

        <Aggregate Id="HoldLatchOpen">

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

<!-- Power the DDM -->

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

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

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

        </Aggregate>

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

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

        <Aggregate Id="CheckIn">

            <Sequence Repeat="288"/>

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

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

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

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

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

        </Aggregate>

    </Aggregate>

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

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

</Mission>


2021-08-14T00:39:54.169Z,1628901594.169 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,PowerOnly,Power24vConverter,RDI_Pathfinder,RDI_PathfinderUp,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,WorkSite,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2021-08-14T00:39:54.180Z,1628901594.180 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-08-14T00:39:54.237Z,1628901594.237 [DDM](INFO): Powering up
2021-08-14T00:39:54.237Z,1628901594.237 [DDM](DEBUG): Initializing DDM.
2021-08-14T00:39:54.284Z,1628901594.284 [DUSBL_Hydroid](INFO): Powering up
2021-08-14T00:39:54.285Z,1628901594.285 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2021-08-14T00:39:54.305Z,1628901594.305 [Power24vConverter](INFO): Powering up.
2021-08-14T00:39:54.365Z,1628901594.365 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-08-14T00:39:54.366Z,1628901594.366 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-08-14T00:39:54.367Z,1628901594.367 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-08-14T00:39:54.380Z,1628901594.380 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-08-14T00:39:54.381Z,1628901594.381 [MassServo](DEBUG): Initializing EZServoServo.
2021-08-14T00:39:54.388Z,1628901594.388 [MassServo](DEBUG): Initializing MassServo.
2021-08-14T00:39:54.389Z,1628901594.389 [RudderServo](DEBUG): Initializing EZServoServo.
2021-08-14T00:39:54.396Z,1628901594.396 [RudderServo](DEBUG): Initializing RudderServo.
2021-08-14T00:39:54.397Z,1628901594.397 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-14T00:39:54.404Z,1628901594.404 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-14T00:39:54.599Z,1628901594.599 [Micromodem](INFO): Powering up
2021-08-14T00:39:54.599Z,1628901594.599 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-14T00:39:55.308Z,1628901595.308 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-08-14T00:39:55.308Z,1628901595.308 [RudderServo](FAULT): Rudder failed to initialize
2021-08-14T00:39:55.308Z,1628901595.308 [RudderServo] Communications Fault, FailCount= 1
2021-08-14T00:39:55.308Z,1628901595.308 [RudderServo](ERROR): Communications Fault
2021-08-14T00:39:55.408Z,1628901595.408 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-08-14T00:39:55.581Z,1628901595.581 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-08-14T00:39:55.581Z,1628901595.581 [RudderServo](INFO): Powering down
2021-08-14T00:39:56.237Z,1628901596.237 [RudderServo](DEBUG): Initializing EZServoServo.
2021-08-14T00:39:56.357Z,1628901596.357 [RudderServo](DEBUG): Initializing RudderServo.
2021-08-14T00:39:56.361Z,1628901596.361 [CBIT](INFO): Clearing failed state for component RudderServo
2021-08-14T00:39:56.361Z,1628901596.361 [RudderServo] No Fault, FailCount= 1
2021-08-14T00:39:59.499Z,1628901599.499 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-14T00:40:00.564Z,1628901600.564 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2021-08-14T00:40:02.723Z,1628901602.723 [Micromodem](INFO): Nmea in: $CATMG,2021-08-14T00:40:01.690896Z,RTC,RTC*51

2021-08-14T00:40:02.723Z,1628901602.723 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2021-08-14T00:40:01.690896Z,RTC,RTC*51

2021-08-14T00:40:09.963Z,1628901609.963 [DDM](INFO): Dynamic Docking Module:üý·)ؘ
2021-08-14T00:40:10.815Z,1628901610.815 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2021-08-14T00:40:11.584Z,1628901611.584 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-14T00:40:11.584Z,1628901611.584 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-14T00:40:11.986Z,1628901611.986 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-14T00:40:11.987Z,1628901611.987 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-14T00:40:12.390Z,1628901612.390 [DUSBL_Hydroid](INFO): DUSBL Version:O
2021-08-14T00:40:12.405Z,1628901612.405 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-14T00:40:12.406Z,1628901612.406 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-14T00:40:12.798Z,1628901612.798 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-14T00:40:12.799Z,1628901612.799 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-14T00:40:13.198Z,1628901613.198 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-14T00:40:13.198Z,1628901613.198 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-14T00:40:13.606Z,1628901613.606 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-14T00:40:13.606Z,1628901613.606 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-14T00:40:14.006Z,1628901614.006 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-14T00:40:14.007Z,1628901614.007 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-14T00:40:14.410Z,1628901614.410 [Micromodem](INFO): Nmea in: $CADQF,200,1*52

2021-08-14T00:40:14.411Z,1628901614.411 [Micromodem](ERROR): CFG response from modem unexpected: $CADQF,200,1*52

2021-08-14T00:40:14.827Z,1628901614.827 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,0*21

2021-08-14T00:40:14.827Z,1628901614.827 [Micromodem](ERROR): CFG response from modem unexpected: $CAMSG,BAD_CRC,0*21

2021-08-14T00:40:15.226Z,1628901615.226 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814004013.845452,05,208,11,0239,0150,246,01,01,03,02,0,-01,-01,-1,2,1,1,-999,-99.9,-9.99,-999,-9.99,200,0.00,-999,25120,4000*41

2021-08-14T00:40:15.226Z,1628901615.226 [Micromodem](ERROR): CFG response from modem unexpected: $CACST,6,1,20210814004013.845452,05,208,11,0239,0150,246,01,01,03,02,0,-01,-01,-1,2,1,1,-999,-99.9,-9.99,-999,-9.99,200,0.00,-999,25120,4000*41

2021-08-14T00:40:16.430Z,1628901616.430 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-14T00:40:16.431Z,1628901616.431 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,14,00,40,17*4A

2021-08-14T00:40:16.850Z,1628901616.850 [Micromodem](INFO): Nmea in: $CACLK,2021,8,14,0,40,17*48

2021-08-14T00:40:17.238Z,1628901617.238 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-14T00:40:18Z*77

2021-08-14T00:40:17.240Z,1628901617.240 [Micromodem](INFO): Nmea in: $CATMG,2021-08-14T00:40:18.027185Z,USER_CMD,RTC*19

2021-08-14T00:40:21.279Z,1628901621.279 [NAL9602](INFO): Powering up NAL9602
2021-08-14T00:40:25.002Z,1628901625.002 [SBIT](IMPORTANT): Beginning Startup BIT
2021-08-14T00:40:25.010Z,1628901625.010 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-14T00:40:32.187Z,1628901632.187 [NAL9602](INFO): NAL9602 initialized
2021-08-14T00:40:35.925Z,1628901635.925 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006197
CHAN A1 (24V): -0.024180
CHAN A2 (12V): -0.005775
CHAN A3 (5V): -0.001754
CHAN B0 (3.3V): 0.000753
CHAN B1 (3.15aV): -0.000064
CHAN B2 (3.15bV): 0.000361
CHAN B3 (GND): 0.001954
OPEN: 0.008620
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-14T00:41:01.684Z,1628901661.684 [NAL9602](INFO): SBD MO Status=2, MOMSN=23839, MT Status=2, MTMSN=0
2021-08-14T00:41:01.684Z,1628901661.684 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T00:41:13.804Z,1628901673.804 [NAL9602](INFO): SBD MO Status=0, MOMSN=23839, MT Status=0, MTMSN=0
2021-08-14T00:41:13.804Z,1628901673.804 [NAL9602](INFO): No messages in MT queue
2021-08-14T00:41:19.134Z,1628901679.134 [SBIT](IMPORTANT): SBIT PASSED
2021-08-14T00:41:19.135Z,1628901679.135 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-08-14T00:41:19.135Z,1628901679.135 [SBIT](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2021-08-14T00:41:19.136Z,1628901679.136 [SBIT](IMPORTANT): DUSBL_Hydroid.verbosity=3 enum;

2021-08-14T00:41:19.136Z,1628901679.136 [SBIT](IMPORTANT): Express linearApproximation CTD_Seabird.bin_median_sea_water_salinity 0.200000 practical_salinity_unit;

2021-08-14T00:41:19.136Z,1628901679.136 [SBIT](IMPORTANT): Express linearApproximation CTD_Seabird.bin_median_sea_water_temperature 5.000000 kelvin;

2021-08-14T00:41:19.136Z,1628901679.136 [SBIT](IMPORTANT): Express none mass_concentration_of_chlorophyll_in_sea_water;

2021-08-14T00:41:19.136Z,1628901679.136 [SBIT](IMPORTANT): LBLNavigation.loadAtStartup=0 bool;

2021-08-14T00:41:19.137Z,1628901679.137 [SBIT](IMPORTANT): LineCapture.navigationGain=3 none;

2021-08-14T00:41:19.137Z,1628901679.137 [SBIT](IMPORTANT): LineCapture.rolloutDistance=250 meter;

2021-08-14T00:41:19.137Z,1628901679.137 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=1 meter_per_second;

2021-08-14T00:41:19.137Z,1628901679.137 [SBIT](IMPORTANT): StratificationFrontDetector.loadAtStartup=0 bool;

2021-08-14T00:41:19.137Z,1628901679.137 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=152.268921 cubic_centimeter;

2021-08-14T00:41:19.137Z,1628901679.137 [SBIT](IMPORTANT): VerticalControl.massDefault=2.948202 millimeter;

2021-08-14T00:41:19.137Z,1628901679.137 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.loadAtStartup=0 bool;

2021-08-14T00:41:19.495Z,1628901679.495 [WorkSite](IMPORTANT): Reading workSite position from Data/workSite.cfg
2021-08-14T00:41:19.503Z,1628901679.503 [WorkSite](IMPORTANT): WorkSite fix at 20210814T003653: (41.553136, -70.706393)
2021-08-14T00:41:19.504Z,1628901679.504 [MissionManager](IMPORTANT): Started mission Startup
2021-08-14T00:41:19.505Z,1628901679.505 [Startup] Running Loop=1
2021-08-14T00:41:19.505Z,1628901679.505 [Startup](DEBUG): Aggregate::initialize Startup
2021-08-14T00:41:19.505Z,1628901679.505 [Startup:A.GoToSurface] Running Loop=1
2021-08-14T00:41:19.505Z,1628901679.505 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-14T00:41:19.506Z,1628901679.506 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-14T00:41:19.506Z,1628901679.506 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-14T00:41:19.506Z,1628901679.506 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-14T00:41:19.507Z,1628901679.507 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-14T00:41:19.507Z,1628901679.507 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-14T00:41:19.513Z,1628901679.513 [Startup:StartupSatComms] Running Loop=1
2021-08-14T00:41:19.513Z,1628901679.513 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-08-14T00:41:19.513Z,1628901679.513 [Startup:StartupSatComms:A] Running Loop=1
2021-08-14T00:41:19.924Z,1628901679.924 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-08-14T00:41:29.563Z,1628901689.563 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004128.00,A,4133.19597,N,07042.35717,W,0.389,123.27,140821,,,A*7A
2021-08-14T00:41:29.566Z,1628901689.566 [NAL9602](INFO): GPS fix at 20210814T004128: (41.553266, -70.705953)
2021-08-14T00:41:29.577Z,1628901689.577 [Startup:StartupSatComms:A] Stopped
2021-08-14T00:41:29.577Z,1628901689.577 [Startup:StartupSatComms:B] Running Loop=1
2021-08-14T00:41:29.997Z,1628901689.997 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-14T00:41:48.087Z,1628901708.087 [NAL9602](INFO): SBD MO Status=1, MOMSN=23840, MT Status=0, MTMSN=0
2021-08-14T00:41:48.136Z,1628901708.136 [NAL9602](INFO): Sent 52 bytes from file Logs/20210814T003209/Courier0007.lzma
2021-08-14T00:41:48.136Z,1628901708.136 [NAL9602](INFO): Packets left to send: 0
2021-08-14T00:42:07.616Z,1628901727.616 [NAL9602](INFO): SBD MO Status=2, MOMSN=23841, MT Status=2, MTMSN=0
2021-08-14T00:42:07.616Z,1628901727.616 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T00:42:27.619Z,1628901747.619 [NAL9602](INFO): SBD MO Status=1, MOMSN=23841, MT Status=0, MTMSN=0
2021-08-14T00:42:27.669Z,1628901747.669 [NAL9602](INFO): Sent 18 bytes from file Logs/20210814T003209/Courier0010.lzma
2021-08-14T00:42:27.669Z,1628901747.669 [NAL9602](INFO): Packets left to send: 0
2021-08-14T00:42:30.971Z,1628901750.971 [Startup:StartupSatComms:B](INFO): Timed out from 2021-08-14T00:41:29.6Z
2021-08-14T00:42:30.972Z,1628901750.972 [Startup:StartupSatComms:B] Stopped
2021-08-14T00:42:30.972Z,1628901750.972 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-08-14T00:42:30.972Z,1628901750.972 [Startup:StartupSatComms] Stopped
2021-08-14T00:42:30.972Z,1628901750.972 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-08-14T00:42:30.973Z,1628901750.973 [Startup](INFO): Completed Startup
2021-08-14T00:42:30.973Z,1628901750.973 [MissionManager](INFO): Startup is completed.
2021-08-14T00:42:30.974Z,1628901750.974 [MissionManager](INFO): Uninitializing Mission Startup
2021-08-14T00:42:30.974Z,1628901750.974 [Startup] Stopped
2021-08-14T00:42:30.974Z,1628901750.974 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-08-14T00:42:30.974Z,1628901750.974 [Startup:A.GoToSurface] Stopped
2021-08-14T00:42:30.974Z,1628901750.974 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-14T00:42:31.194Z,1628901751.194 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-14T00:42:31.195Z,1628901751.195 [DefaultWithUndock] Running Loop=1
2021-08-14T00:42:31.195Z,1628901751.195 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-14T00:42:31.195Z,1628901751.195 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-14T00:42:31.195Z,1628901751.195 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-14T00:42:39.499Z,1628901759.499 [NAL9602](INFO): SBD MO Status=1, MOMSN=23842, MT Status=0, MTMSN=0
2021-08-14T00:42:39.548Z,1628901759.548 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T003940/Courier0000.lzma
2021-08-14T00:42:39.549Z,1628901759.549 [NAL9602](INFO): Packets left to send: 1
2021-08-14T00:43:01.319Z,1628901781.319 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-14T00:43:01.320Z,1628901781.320 [DefaultWithUndock:A.Wait] Stopped
2021-08-14T00:43:01.320Z,1628901781.320 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T00:43:01.320Z,1628901781.320 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-14T00:43:01.320Z,1628901781.320 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-14T00:43:01.320Z,1628901781.320 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-14T00:43:01.320Z,1628901781.320 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-14T00:43:01.321Z,1628901781.321 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-14T00:43:01.321Z,1628901781.321 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-14T00:43:01.321Z,1628901781.321 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T00:43:01.754Z,1628901781.754 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-14T00:43:02.113Z,1628901782.113 [PowerOnly](INFO): Powering up loadControl
2021-08-14T00:43:04.194Z,1628901784.194 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T00:43:04.569Z,1628901784.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:43:04.569Z,1628901784.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:43:04.569Z,1628901784.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:43:04.570Z,1628901784.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:43:05.001Z,1628901785.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
O
2021-08-14T00:43:05.001Z,1628901785.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:43:05.001Z,1628901785.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:43:05.003Z,1628901785.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:43:05.381Z,1628901785.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:43:05.813Z,1628901785.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2E,000,008D0,189,80,80,91,FF
2021-08-14T00:43:05.814Z,1628901785.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:43:05.828Z,1628901785.828 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-14T00:43:06.198Z,1628901786.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004306.03*5C

2021-08-14T00:43:06.232Z,1628901786.232 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T00:43:08.622Z,1628901788.622 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T00:43:09.005Z,1628901789.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:43:09.005Z,1628901789.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:43:09.005Z,1628901789.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:43:09.006Z,1628901789.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:43:09.070Z,1628901789.070 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T00:43:09.413Z,1628901789.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2E,000,008D0,189,80,80,91,FF
2021-08-14T00:43:09.413Z,1628901789.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:43:09.414Z,1628901789.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:43:09.415Z,1628901789.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:43:09.834Z,1628901789.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:43:10.225Z,1628901790.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D40,000,008D1,189,80,80,BD,FF
2021-08-14T00:43:10.225Z,1628901790.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:43:10.228Z,1628901790.228 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T00:43:10.781Z,1628901790.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004310.44*58

2021-08-14T00:43:13.126Z,1628901793.126 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T00:43:13.453Z,1628901793.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:43:13.453Z,1628901793.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:43:13.453Z,1628901793.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:43:13.454Z,1628901793.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:43:13.865Z,1628901793.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D40,000,008D1,189,80,80,BD,FF
2021-08-14T00:43:13.865Z,1628901793.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:43:13.865Z,1628901793.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:43:13.867Z,1628901793.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:43:14.273Z,1628901794.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:43:14.669Z,1628901794.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,008D9,189,80,80,A8,FF
2021-08-14T00:43:14.669Z,1628901794.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:43:15.101Z,1628901795.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004314.89*5D

2021-08-14T00:43:17.544Z,1628901797.544 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T00:43:17.897Z,1628901797.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:43:17.897Z,1628901797.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:43:17.897Z,1628901797.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:43:17.898Z,1628901797.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:43:18.307Z,1628901798.307 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,008D9,189,80,80,A8,FF
2021-08-14T00:43:18.307Z,1628901798.307 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:43:18.307Z,1628901798.307 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:43:18.309Z,1628901798.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:43:18.741Z,1628901798.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:43:19.105Z,1628901799.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,008E1,187,80,80,97,FF
2021-08-14T00:43:19.106Z,1628901799.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:43:19.550Z,1628901799.550 [Micromodem](INFO): Nmea in: $SNTTA,0.071668,,,,004319.34*46

2021-08-14T00:43:21.965Z,1628901801.965 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T00:43:22.341Z,1628901802.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:43:22.341Z,1628901802.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:43:22.341Z,1628901802.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:43:22.342Z,1628901802.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:43:22.741Z,1628901802.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,008E1,187,80,80,97,FF
2021-08-14T00:43:22.741Z,1628901802.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:43:22.741Z,1628901802.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:43:22.743Z,1628901802.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:43:23.152Z,1628901803.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:43:23.547Z,1628901803.547 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB7,000,008E9,189,80,80,BF,FF
2021-08-14T00:43:23.547Z,1628901803.547 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:43:24.197Z,1628901804.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004323.77*58

2021-08-14T00:43:26.359Z,1628901806.359 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004781
2021-08-14T00:43:26.451Z,1628901806.451 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 99.36 m. Transitioning DDM to standby.
2021-08-14T00:43:26.451Z,1628901806.451 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T00:43:26.805Z,1628901806.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:43:26.805Z,1628901806.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:43:26.805Z,1628901806.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:43:26.806Z,1628901806.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:43:27.201Z,1628901807.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB7,000,008E9,189,80,80,BF,FF
2021-08-14T00:43:27.201Z,1628901807.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:43:27.201Z,1628901807.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:43:27.203Z,1628901807.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:43:27.620Z,1628901807.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:43:28.013Z,1628901808.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBE,000,008EA,189,80,80,B0,FF
2021-08-14T00:43:28.014Z,1628901808.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:43:28.449Z,1628901808.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004328.23*52

2021-08-14T00:43:28.960Z,1628901808.960 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-14T00:43:29.293Z,1628901809.293 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T00:43:29.293Z,1628901809.293 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-14T00:43:29.294Z,1628901809.294 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-14T00:43:29.294Z,1628901809.294 [DefaultWithUndock:LeaveDock] Stopped
2021-08-14T00:43:29.294Z,1628901809.294 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-14T00:43:29.294Z,1628901809.294 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-14T00:43:29.294Z,1628901809.294 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-14T00:43:29.294Z,1628901809.294 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-14T00:43:29.294Z,1628901809.294 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-14T00:43:29.295Z,1628901809.295 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-14T00:43:29.295Z,1628901809.295 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-14T00:43:29.295Z,1628901809.295 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-14T00:43:29.295Z,1628901809.295 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-14T00:43:29.295Z,1628901809.295 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-14T00:43:29.295Z,1628901809.295 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-14T00:43:29.295Z,1628901809.295 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-14T00:43:29.296Z,1628901809.296 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-14T00:43:29.296Z,1628901809.296 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-14T00:43:29.297Z,1628901809.297 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-14T00:43:29.637Z,1628901809.637 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-14T00:43:29.638Z,1628901809.638 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T00:43:29.638Z,1628901809.638 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T00:43:29.638Z,1628901809.638 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-14T00:43:29.638Z,1628901809.638 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-14T00:43:29.638Z,1628901809.638 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-14T00:43:29.638Z,1628901809.638 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-14T00:43:30.083Z,1628901810.083 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-08-14T00:43:31.621Z,1628901811.621 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004330.00,A,4133.19255,N,07042.35827,W,0.719,116.69,140821,,,A*75
2021-08-14T00:43:31.623Z,1628901811.623 [NAL9602](INFO): GPS fix at 20210814T004330: (41.553209, -70.705971)
2021-08-14T00:43:31.661Z,1628901811.661 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T00:43:31.661Z,1628901811.661 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T00:43:32.096Z,1628901812.096 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-14T00:43:35.394Z,1628901815.394 [DataOverHttps](INFO): Sending 252 bytes from file Logs/20210814T003940/Courier0000.lzma
2021-08-14T00:43:36.394Z,1628901816.394 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Courier0000.lzma.bak
2021-08-14T00:43:36.394Z,1628901816.394 [DataOverHttps](INFO): SBD MOMSN=434723
2021-08-14T00:43:44.193Z,1628901824.193 [NAL9602](INFO): SBD MO Status=0, MOMSN=23843, MT Status=0, MTMSN=0
2021-08-14T00:43:44.194Z,1628901824.194 [NAL9602](INFO): No messages in MT queue
2021-08-14T00:43:45.445Z,1628901825.445 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20210814T003940/Courier0004.lzma
2021-08-14T00:43:46.446Z,1628901826.446 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Courier0004.lzma.bak
2021-08-14T00:43:46.446Z,1628901826.446 [DataOverHttps](INFO): SBD MOMSN=434726
2021-08-14T00:43:55.489Z,1628901835.489 [DataOverHttps](INFO): Sending 284 bytes from file Logs/20210814T003209/Express0005.lzma
2021-08-14T00:43:56.486Z,1628901836.486 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003209/Express0005.lzma.bak
2021-08-14T00:43:56.486Z,1628901836.486 [DataOverHttps](INFO): SBD MOMSN=434730
2021-08-14T00:44:05.526Z,1628901845.526 [DataOverHttps](INFO): Sending 184 bytes from file Logs/20210814T003209/Express0008.lzma
2021-08-14T00:44:06.526Z,1628901846.526 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003209/Express0008.lzma.bak
2021-08-14T00:44:06.526Z,1628901846.526 [DataOverHttps](INFO): SBD MOMSN=434734
2021-08-14T00:44:11.545Z,1628901851.545 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T004411
2021-08-14T00:44:14.920Z,1628901854.920 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T00:44:15.563Z,1628901855.563 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20210814T003209/Express0011.lzma
2021-08-14T00:44:15.566Z,1628901855.566 [DataOverHttps](INFO): Received command:set LineCapture.navigationGain 4 none
2021-08-14T00:44:17.901Z,1628901857.901 [CommandLine](IMPORTANT): got command set LineCapture.navigationGain 4.000000 none
2021-08-14T00:44:18.087Z,1628901858.087 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003209/Express0011.lzma.bak
2021-08-14T00:44:18.087Z,1628901858.087 [DataOverHttps](INFO): SBD MOMSN=434739
2021-08-14T00:44:26.939Z,1628901866.939 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T003940/Courier0007.lzma
2021-08-14T00:44:27.942Z,1628901867.942 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Courier0007.lzma.bak
2021-08-14T00:44:27.942Z,1628901867.942 [DataOverHttps](INFO): SBD MOMSN=434742
2021-08-14T00:44:32.961Z,1628901872.961 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T004432
2021-08-14T00:44:33.482Z,1628901873.482 [PowerOnly](INFO): Powering down loadControl
2021-08-14T00:44:36.982Z,1628901876.982 [DataOverHttps](INFO): Sending 1127 bytes from file Logs/20210814T003940/Express0001.lzma
2021-08-14T00:44:36.987Z,1628901876.987 [DataOverHttps](INFO): Received command:set LineCapture.rolloutSpeed 0 meters_per_second
2021-08-14T00:44:38.936Z,1628901878.936 [CommandLine](IMPORTANT): got command set LineCapture.rolloutSpeed 0.000000 meter_per_second
2021-08-14T00:44:39.150Z,1628901879.150 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Express0001.lzma.bak
2021-08-14T00:44:39.150Z,1628901879.150 [DataOverHttps](INFO): SBD MOMSN=434745
2021-08-14T00:44:47.975Z,1628901887.975 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T003940/Courier0010.lzma
2021-08-14T00:44:48.978Z,1628901888.978 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Courier0010.lzma.bak
2021-08-14T00:44:48.978Z,1628901888.978 [DataOverHttps](INFO): SBD MOMSN=434773
2021-08-14T00:44:58.016Z,1628901898.016 [DataOverHttps](INFO): Sending 284 bytes from file Logs/20210814T003940/Express0005.lzma
2021-08-14T00:44:59.018Z,1628901899.018 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Express0005.lzma.bak
2021-08-14T00:44:59.018Z,1628901899.018 [DataOverHttps](INFO): SBD MOMSN=434775
2021-08-14T00:45:08.072Z,1628901908.072 [DataOverHttps](INFO): Sending 198 bytes from file Logs/20210814T003940/Express0008.lzma
2021-08-14T00:45:09.074Z,1628901909.074 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Express0008.lzma.bak
2021-08-14T00:45:09.074Z,1628901909.074 [DataOverHttps](INFO): SBD MOMSN=434780
2021-08-14T00:45:18.112Z,1628901918.112 [DataOverHttps](INFO): Sending 159 bytes from file Logs/20210814T003940/Express0011.lzma
2021-08-14T00:45:19.114Z,1628901919.114 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Express0011.lzma.bak
2021-08-14T00:45:19.114Z,1628901919.114 [DataOverHttps](INFO): SBD MOMSN=434784
2021-08-14T00:45:21.322Z,1628901921.322 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T00:45:21.322Z,1628901921.322 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-14T00:45:21.322Z,1628901921.322 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-14T00:46:04.301Z,1628901964.301 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T004603
2021-08-14T00:46:08.319Z,1628901968.319 [DataOverHttps](INFO): Received command:set LineCapture.rolloutDistance 2000 m
2021-08-14T00:46:10.580Z,1628901970.580 [CommandLine](IMPORTANT): got command set LineCapture.rolloutDistance 2000.000000 meter
2021-08-14T00:48:16.091Z,1628902096.091 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-14T00:48:16.094Z,1628902096.094 [BPC1](INFO): Received data from all battery sticks.
2021-08-14T00:48:30.157Z,1628902110.157 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T004829
2021-08-14T00:48:34.176Z,1628902114.176 [DataOverHttps](INFO): Received command:set LineCapture.rolloutTimeout 20 minute
2021-08-14T00:48:36.207Z,1628902116.207 [CommandLine](IMPORTANT): got command set LineCapture.rolloutTimeout 20.000000 minute
2021-08-14T00:49:07.799Z,1628902147.799 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T00:49:07.804Z,1628902147.804 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814004907.817009,06,1204,24,0143,0150,141,00,00,01,00,-1,-01,-01,1,3,6,0,150,30.9,-2.84,-100,5.84,-01,0.52,56,14500,4000*52

2021-08-14T00:49:25.587Z,1628902165.587 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T00:49:25.587Z,1628902165.587 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T00:49:25.590Z,1628902165.590 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T00:49:25.984Z,1628902165.984 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814004925.813831,06,377,19,0128,0150,149,03,03,01,03,-1,-01,-01,1,3,5,0,150,81.4,1.28,-100,1.72,-01,-3.46,-18,14500,4000*44

2021-08-14T00:50:08.011Z,1628902208.011 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T00:50:08.011Z,1628902208.011 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T00:50:08.014Z,1628902208.014 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T00:50:08.404Z,1628902208.404 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814005007.811982,06,1020,24,0108,0150,208,02,02,01,02,-1,-01,-01,1,3,1,0,150,80.8,7.07,-100,-4.07,-01,-1.17,-12,14500,4000*58

2021-08-14T00:50:20.638Z,1628902220.638 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T005020
2021-08-14T00:50:21.757Z,1628902221.757 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-14T00:50:21.757Z,1628902221.757 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-14T00:50:21.757Z,1628902221.757 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T00:50:21.757Z,1628902221.757 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-14T00:50:22.178Z,1628902222.178 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-14T00:50:22.178Z,1628902222.178 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-14T00:50:22.566Z,1628902222.566 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 7.849729 min 
2021-08-14T00:50:22.566Z,1628902222.566 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-14T00:50:22.567Z,1628902222.567 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T00:50:22.567Z,1628902222.567 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T00:50:22.567Z,1628902222.567 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T00:50:22.567Z,1628902222.567 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-08-14T00:50:22.567Z,1628902222.567 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-08-14T00:50:22.567Z,1628902222.567 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T00:50:22.567Z,1628902222.567 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T00:50:24.562Z,1628902224.562 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,005024.00,A,4133.19855,N,07042.32621,W,0.272,133.36,140821,,,A*72
2021-08-14T00:50:24.564Z,1628902224.564 [NAL9602](INFO): GPS fix at 20210814T005024: (41.553309, -70.705437)
2021-08-14T00:50:24.585Z,1628902224.585 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T00:50:24.585Z,1628902224.585 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T00:50:24.656Z,1628902224.656 [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" 2q7nm 1 2
2021-08-14T00:50:24.749Z,1628902224.749 [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" 2q7nm 1 2.000000
2021-08-14T00:50:24.749Z,1628902224.749 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2q7nm
2021-08-14T00:50:24.750Z,1628902224.750 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 2 with id='2q7nm'): "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
2021-08-14T00:50:26.106Z,1628902226.106 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T005025
2021-08-14T00:50:29.676Z,1628902229.676 [DataOverHttps](INFO): Sending 199 bytes from file Logs/20210814T003940/Courier0013.lzma
2021-08-14T00:50:29.681Z,1628902229.681 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2q7nm 2 2
2021-08-14T00:50:29.702Z,1628902229.702 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2q7nm 2 2.000000
2021-08-14T00:50:29.704Z,1628902229.704 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2q7nm
2021-08-14T00:50:29.707Z,1628902229.707 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 2 with id='2q7nm'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-14T00:50:29.847Z,1628902229.847 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T00:50:29.856Z,1628902229.856 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T00:50:29.997Z,1628902229.997 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-14T00:50:30.002Z,1628902230.002 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-14T00:50:30.006Z,1628902230.006 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-14T00:50:30.009Z,1628902230.009 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-14T00:50:30.013Z,1628902230.013 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-14T00:50:30.017Z,1628902230.017 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-14T00:50:30.020Z,1628902230.020 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-14T00:50:30.023Z,1628902230.023 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-14T00:50:30.027Z,1628902230.027 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-14T00:50:30.046Z,1628902230.046 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-14T00:50:30.050Z,1628902230.050 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-14T00:50:30.061Z,1628902230.061 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-14T00:50:30.066Z,1628902230.066 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-14T00:50:30.078Z,1628902230.078 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-14T00:50:30.081Z,1628902230.081 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-14T00:50:30.082Z,1628902230.082 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-14T00:50:30.488Z,1628902230.488 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-14T00:50:30.491Z,1628902230.491 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-14T00:50:30.494Z,1628902230.494 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-14T00:50:30.497Z,1628902230.497 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-14T00:50:30.500Z,1628902230.500 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-14T00:50:30.503Z,1628902230.503 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-14T00:50:30.506Z,1628902230.506 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-14T00:50:30.510Z,1628902230.510 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-14T00:50:30.529Z,1628902230.529 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-14T00:50:30.536Z,1628902230.536 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-14T00:50:30.539Z,1628902230.539 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-14T00:50:30.546Z,1628902230.546 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-14T00:50:30.553Z,1628902230.553 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-14T00:50:30.561Z,1628902230.561 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-14T00:50:30.568Z,1628902230.568 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-14T00:50:30.576Z,1628902230.576 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-14T00:50:30.583Z,1628902230.583 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-14T00:50:30.587Z,1628902230.587 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-14T00:50:30.591Z,1628902230.591 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-14T00:50:30.639Z,1628902230.639 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-14T00:50:30.651Z,1628902230.651 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-14T00:50:30.664Z,1628902230.664 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-14T00:50:30.667Z,1628902230.667 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-14T00:50:30.675Z,1628902230.675 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-14T00:50:30.738Z,1628902230.738 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-14T00:50:30.746Z,1628902230.746 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-14T00:50:30.773Z,1628902230.773 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-14T00:50:30.779Z,1628902230.779 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-14T00:50:30.797Z,1628902230.797 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-14T00:50:30.819Z,1628902230.819 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-14T00:50:30.858Z,1628902230.858 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-14T00:50:30.893Z,1628902230.893 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-14T00:50:30.920Z,1628902230.920 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-14T00:50:30.923Z,1628902230.923 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-14T00:50:30.935Z,1628902230.935 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-14T00:50:30.954Z,1628902230.954 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-14T00:50:30.962Z,1628902230.962 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-14T00:50:30.970Z,1628902230.970 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-14T00:50:30.993Z,1628902230.993 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-14T00:50:31.001Z,1628902231.001 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-14T00:50:31.037Z,1628902231.037 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-14T00:50:31.041Z,1628902231.041 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-14T00:50:31.068Z,1628902231.068 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-14T00:50:31.084Z,1628902231.084 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-14T00:50:31.087Z,1628902231.087 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-14T00:50:31.111Z,1628902231.111 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-14T00:50:31.123Z,1628902231.123 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-14T00:50:31.138Z,1628902231.138 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-14T00:50:31.155Z,1628902231.155 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-14T00:50:31.166Z,1628902231.166 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-14T00:50:31.190Z,1628902231.190 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-14T00:50:31.203Z,1628902231.203 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-14T00:50:31.258Z,1628902231.258 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-14T00:50:31.275Z,1628902231.275 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-14T00:50:31.282Z,1628902231.282 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-14T00:50:31.306Z,1628902231.306 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-14T00:50:31.314Z,1628902231.314 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-14T00:50:31.321Z,1628902231.321 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-14T00:50:31.337Z,1628902231.337 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-14T00:50:31.349Z,1628902231.349 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-14T00:50:31.370Z,1628902231.370 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-14T00:50:31.378Z,1628902231.378 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-14T00:50:31.381Z,1628902231.381 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Courier0013.lzma.bak
2021-08-14T00:50:31.381Z,1628902231.381 [DataOverHttps](INFO): SBD MOMSN=434795
2021-08-14T00:50:31.397Z,1628902231.397 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-14T00:50:31.402Z,1628902231.402 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-14T00:50:31.532Z,1628902231.532 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T00:50:31.566Z,1628902231.566 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T00:50:31.598Z,1628902231.598 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T00:50:31.623Z,1628902231.623 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T00:50:31.650Z,1628902231.650 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T00:50:31.705Z,1628902231.705 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T00:50:31.742Z,1628902231.742 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T00:50:31.790Z,1628902231.790 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T00:50:31.854Z,1628902231.854 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-14T00:50:31.918Z,1628902231.918 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-14T00:50:31.929Z,1628902231.929 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-14T00:50:31.941Z,1628902231.941 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-14T00:50:31.942Z,1628902231.942 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-14T00:50:31.971Z,1628902231.971 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-14T00:50:32.010Z,1628902232.010 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-14T00:50:32.043Z,1628902232.043 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-14T00:50:32.175Z,1628902232.175 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-14T00:50:32.179Z,1628902232.179 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-14T00:50:32.191Z,1628902232.191 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-14T00:50:32.205Z,1628902232.205 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-14T00:50:32.257Z,1628902232.257 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-14T00:50:32.265Z,1628902232.265 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-14T00:50:32.285Z,1628902232.285 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-14T00:50:32.308Z,1628902232.308 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-14T00:50:32.372Z,1628902232.372 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-14T00:50:32.406Z,1628902232.406 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-14T00:50:32.414Z,1628902232.414 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-14T00:50:32.423Z,1628902232.423 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-14T00:50:32.470Z,1628902232.470 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-14T00:50:32.796Z,1628902232.796 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-14T00:50:32.804Z,1628902232.804 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-14T00:50:32.812Z,1628902232.812 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-14T00:50:32.820Z,1628902232.820 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-14T00:50:32.836Z,1628902232.836 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-14T00:50:32.854Z,1628902232.854 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-14T00:50:32.878Z,1628902232.878 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-14T00:50:32.909Z,1628902232.909 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-14T00:50:32.913Z,1628902232.913 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-14T00:50:32.925Z,1628902232.925 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-14T00:50:32.931Z,1628902232.931 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-14T00:50:32.943Z,1628902232.943 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-14T00:50:32.954Z,1628902232.954 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-14T00:50:32.957Z,1628902232.957 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-14T00:50:32.965Z,1628902232.965 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-14T00:50:32.972Z,1628902232.972 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-14T00:50:32.979Z,1628902232.979 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-14T00:50:32.999Z,1628902232.999 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-14T00:50:33.007Z,1628902233.007 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-14T00:50:33.015Z,1628902233.015 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-14T00:50:33.023Z,1628902233.023 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-14T00:50:33.067Z,1628902233.067 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-14T00:50:33.074Z,1628902233.074 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-14T00:50:33.090Z,1628902233.090 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-14T00:50:33.113Z,1628902233.113 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-14T00:50:33.118Z,1628902233.118 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-14T00:50:33.131Z,1628902233.131 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-14T00:50:33.184Z,1628902233.184 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-14T00:50:33.192Z,1628902233.192 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-14T00:50:33.203Z,1628902233.203 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-14T00:50:33.218Z,1628902233.218 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-14T00:50:33.252Z,1628902233.252 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-14T00:50:33.270Z,1628902233.270 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-14T00:50:33.316Z,1628902233.316 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-14T00:50:33.324Z,1628902233.324 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-14T00:50:33.340Z,1628902233.340 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-14T00:50:33.340Z,1628902233.340 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T00:50:33.389Z,1628902233.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-14T00:50:33.397Z,1628902233.397 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-14T00:50:33.413Z,1628902233.413 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-14T00:50:33.489Z,1628902233.489 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-14T00:50:33.512Z,1628902233.512 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-14T00:50:33.542Z,1628902233.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-14T00:50:33.572Z,1628902233.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-14T00:50:33.605Z,1628902233.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T00:50:33.606Z,1628902233.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T00:50:33.614Z,1628902233.614 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-14T00:50:33.631Z,1628902233.631 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-14T00:50:33.678Z,1628902233.678 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-14T00:50:33.706Z,1628902233.706 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-14T00:50:33.718Z,1628902233.718 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-14T00:50:33.726Z,1628902233.726 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-14T00:50:33.753Z,1628902233.753 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-14T00:50:33.827Z,1628902233.827 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-14T00:50:33.827Z,1628902233.827 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-14T00:50:33.894Z,1628902233.894 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-14T00:50:33.894Z,1628902233.894 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T00:50:33.991Z,1628902233.991 [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>


2021-08-14T00:50:33.991Z,1628902233.991 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T00:50:39.715Z,1628902239.715 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T003940/Courier0016.lzma
2021-08-14T00:50:41.284Z,1628902241.284 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Courier0016.lzma.bak
2021-08-14T00:50:41.284Z,1628902241.284 [DataOverHttps](INFO): SBD MOMSN=434799
2021-08-14T00:50:46.784Z,1628902246.784 [NAL9602](INFO): SBD MO Status=0, MOMSN=23844, MT Status=0, MTMSN=0
2021-08-14T00:50:46.784Z,1628902246.784 [NAL9602](INFO): No messages in MT queue
2021-08-14T00:50:49.454Z,1628902249.454 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 120.000000 minute
2021-08-14T00:50:49.455Z,1628902249.455 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-14T00:50:49.455Z,1628902249.455 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-14T00:50:49.456Z,1628902249.456 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-14T00:50:49.755Z,1628902249.755 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T003940/Courier0019.lzma
2021-08-14T00:50:50.758Z,1628902250.758 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Courier0019.lzma.bak
2021-08-14T00:50:50.758Z,1628902250.758 [DataOverHttps](INFO): SBD MOMSN=434801
2021-08-14T00:50:55.568Z,1628902255.568 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-14T00:50:55.569Z,1628902255.569 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-14T00:50:55.569Z,1628902255.569 [CommandLine](IMPORTANT): got command run
2021-08-14T00:50:55.575Z,1628902255.575 [CommandLine](IMPORTANT): Running 
2021-08-14T00:50:55.702Z,1628902255.702 [DefaultWithUndock] Stopped
2021-08-14T00:50:55.702Z,1628902255.702 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-14T00:50:55.703Z,1628902255.703 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-14T00:50:55.703Z,1628902255.703 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-14T00:50:55.703Z,1628902255.703 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-14T00:50:55.703Z,1628902255.703 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-14T00:50:55.703Z,1628902255.703 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T00:50:55.703Z,1628902255.703 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T00:50:55.703Z,1628902255.703 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T00:50:55.703Z,1628902255.703 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-14T00:50:55.708Z,1628902255.708 [lineCaptureDepth] Running Loop=1
2021-08-14T00:50:55.708Z,1628902255.708 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-14T00:50:55.708Z,1628902255.708 [lineCaptureDepth:Science] Running Loop=1
2021-08-14T00:50:55.708Z,1628902255.708 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-14T00:50:55.708Z,1628902255.708 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-14T00:50:55.708Z,1628902255.708 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-14T00:50:55.708Z,1628902255.708 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-14T00:50:55.709Z,1628902255.709 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-14T00:50:55.709Z,1628902255.709 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-14T00:50:55.709Z,1628902255.709 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-14T00:50:55.709Z,1628902255.709 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-14T00:50:55.709Z,1628902255.709 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-14T00:50:55.709Z,1628902255.709 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-14T00:50:55.709Z,1628902255.709 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T00:50:55.709Z,1628902255.709 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T00:50:55.716Z,1628902255.716 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-14T00:50:55.716Z,1628902255.716 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-14T00:50:55.716Z,1628902255.716 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T00:50:55.716Z,1628902255.716 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T00:50:55.717Z,1628902255.717 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-14T00:50:55.717Z,1628902255.717 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-14T00:50:55.717Z,1628902255.717 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T00:50:55.717Z,1628902255.717 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T00:50:55.722Z,1628902255.722 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-14T00:50:55.722Z,1628902255.722 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-14T00:50:55.722Z,1628902255.722 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T00:50:55.722Z,1628902255.722 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T00:50:55.724Z,1628902255.724 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-14T00:50:55.725Z,1628902255.725 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-14T00:50:55.725Z,1628902255.725 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T00:50:55.725Z,1628902255.725 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T00:50:55.725Z,1628902255.725 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-14T00:50:55.725Z,1628902255.725 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-14T00:50:55.726Z,1628902255.726 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T00:50:55.726Z,1628902255.726 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T00:50:55.727Z,1628902255.727 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-14T00:50:55.732Z,1628902255.732 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-14T00:50:55.732Z,1628902255.732 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T00:50:55.732Z,1628902255.732 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T00:50:55.734Z,1628902255.734 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-14T00:50:55.734Z,1628902255.734 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-14T00:50:55.734Z,1628902255.734 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T00:50:55.735Z,1628902255.735 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T00:50:55.735Z,1628902255.735 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-14T00:50:55.735Z,1628902255.735 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-14T00:50:55.735Z,1628902255.735 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-14T00:50:55.735Z,1628902255.735 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-14T00:50:55.740Z,1628902255.740 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-14T00:50:55.740Z,1628902255.740 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-14T00:50:55.740Z,1628902255.740 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T00:50:55.740Z,1628902255.740 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T00:50:55.740Z,1628902255.740 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T00:50:55.741Z,1628902255.741 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T00:50:55.741Z,1628902255.741 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T00:50:55.741Z,1628902255.741 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T00:50:55.741Z,1628902255.741 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T00:50:55.741Z,1628902255.741 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T00:50:55.741Z,1628902255.741 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T00:50:55.741Z,1628902255.741 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T00:50:55.742Z,1628902255.742 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T00:50:55.742Z,1628902255.742 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-14T00:50:55.742Z,1628902255.742 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-14T00:50:55.742Z,1628902255.742 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T00:50:55.742Z,1628902255.742 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T00:50:55.742Z,1628902255.742 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-14T00:50:55.742Z,1628902255.742 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T00:50:55.742Z,1628902255.742 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T00:50:55.743Z,1628902255.743 [lineCaptureDepth:C] Running Loop=1
2021-08-14T00:50:55.748Z,1628902255.748 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T00:50:55.748Z,1628902255.748 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T00:50:55.749Z,1628902255.749 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-14T00:50:55.749Z,1628902255.749 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T00:50:55.749Z,1628902255.749 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-14T00:50:55.749Z,1628902255.749 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-14T00:50:55.749Z,1628902255.749 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T00:50:55.750Z,1628902255.750 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-14T00:50:55.751Z,1628902255.751 [lineCaptureDepth:C] Stopped
2021-08-14T00:50:55.751Z,1628902255.751 [lineCaptureDepth:D] Running Loop=1
2021-08-14T00:50:55.751Z,1628902255.751 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-14T00:50:55.751Z,1628902255.751 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T00:50:55.756Z,1628902255.756 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T00:50:55.757Z,1628902255.757 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T00:50:55.757Z,1628902255.757 [lineCaptureDepth:Science] Running Loop=1
2021-08-14T00:50:55.758Z,1628902255.758 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-14T00:50:55.759Z,1628902255.759 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-14T00:50:55.759Z,1628902255.759 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T00:50:55.759Z,1628902255.759 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T00:50:55.759Z,1628902255.759 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-14T00:50:55.759Z,1628902255.759 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-14T00:50:55.759Z,1628902255.759 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-14T00:50:55.759Z,1628902255.759 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T00:50:55.759Z,1628902255.759 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-14T00:50:55.759Z,1628902255.759 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-14T00:50:55.762Z,1628902255.762 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-14T00:50:55.762Z,1628902255.762 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T00:50:55.762Z,1628902255.762 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-14T00:50:55.762Z,1628902255.762 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-14T00:50:55.762Z,1628902255.762 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T00:50:55.763Z,1628902255.763 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T00:50:55.763Z,1628902255.763 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-14T00:50:55.763Z,1628902255.763 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-14T00:50:55.763Z,1628902255.763 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-14T00:50:55.763Z,1628902255.763 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T00:50:55.763Z,1628902255.763 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-14T00:50:55.763Z,1628902255.763 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-14T00:50:55.763Z,1628902255.763 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-14T00:50:55.763Z,1628902255.763 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T00:50:55.763Z,1628902255.763 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-14T00:50:55.765Z,1628902255.765 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-14T00:50:55.765Z,1628902255.765 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T00:50:55.766Z,1628902255.766 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T00:50:55.766Z,1628902255.766 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-14T00:50:55.766Z,1628902255.766 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-14T00:50:55.766Z,1628902255.766 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-14T00:50:55.766Z,1628902255.766 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T00:50:55.766Z,1628902255.766 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-14T00:50:55.780Z,1628902255.780 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-14T00:50:55.781Z,1628902255.781 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-14T00:50:55.782Z,1628902255.782 [lineCaptureDepth:Science:F] Stopped
2021-08-14T00:50:55.782Z,1628902255.782 [lineCaptureDepth:Science:E] Stopped
2021-08-14T00:50:55.782Z,1628902255.782 [lineCaptureDepth:Science:D] Stopped
2021-08-14T00:50:55.782Z,1628902255.782 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-14T00:50:55.783Z,1628902255.783 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-14T00:50:55.783Z,1628902255.783 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-14T00:50:55.784Z,1628902255.784 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-14T00:50:55.785Z,1628902255.785 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-14T00:50:55.785Z,1628902255.785 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-14T00:50:55.786Z,1628902255.786 [lineCaptureDepth:Science:A] Stopped
2021-08-14T00:50:55.840Z,1628902255.840 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-14T00:50:56.085Z,1628902256.085 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T00:50:56.085Z,1628902256.085 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T00:50:56.085Z,1628902256.085 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T00:50:56.086Z,1628902256.086 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T00:50:56.086Z,1628902256.086 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T00:50:56.086Z,1628902256.086 [lineCaptureDepth:D] Stopped
2021-08-14T00:50:56.086Z,1628902256.086 [lineCaptureDepth:E] Running Loop=1
2021-08-14T00:50:56.493Z,1628902256.493 [lineCaptureDepth:E] Stopped
2021-08-14T00:50:56.494Z,1628902256.494 [lineCaptureDepth:G] Running Loop=1
2021-08-14T00:50:56.963Z,1628902256.963 [lineCaptureDepth:G] Stopped
2021-08-14T00:50:56.963Z,1628902256.963 [lineCaptureDepth:H] Running Loop=1
2021-08-14T00:50:57.302Z,1628902257.302 [lineCaptureDepth:H] Stopped
2021-08-14T00:50:57.302Z,1628902257.302 [lineCaptureDepth:J] Running Loop=1
2021-08-14T00:50:57.725Z,1628902257.725 [lineCaptureDepth:J] Stopped
2021-08-14T00:50:57.725Z,1628902257.725 [lineCaptureDepth:M] Running Loop=1
2021-08-14T00:50:58.119Z,1628902258.119 [lineCaptureDepth:M] Stopped
2021-08-14T00:50:58.119Z,1628902258.119 [lineCaptureDepth:N] Running Loop=1
2021-08-14T00:50:58.533Z,1628902258.533 [lineCaptureDepth:N] Stopped
2021-08-14T00:50:58.533Z,1628902258.533 [lineCaptureDepth:O] Running Loop=1
2021-08-14T00:50:58.533Z,1628902258.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:50:58.918Z,1628902258.918 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:50:58.918Z,1628902258.918 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:50:58.918Z,1628902258.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:50:58.919Z,1628902258.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:50:58.985Z,1628902258.985 [lineCaptureDepth:O] Stopped
2021-08-14T00:50:58.985Z,1628902258.985 [lineCaptureDepth:Lap] Running Loop=1
2021-08-14T00:50:58.985Z,1628902258.985 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-14T00:50:58.985Z,1628902258.985 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-14T00:50:59.314Z,1628902259.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBE,000,008EA,189,80,80,B0,FF
2021-08-14T00:50:59.314Z,1628902259.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:50:59.315Z,1628902259.315 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:50:59.317Z,1628902259.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:50:59.342Z,1628902259.342 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-14T00:50:59.451Z,1628902259.451 [lineCaptureDepth:Lap:A] Stopped
2021-08-14T00:50:59.451Z,1628902259.451 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-14T00:50:59.451Z,1628902259.451 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-14T00:50:59.708Z,1628902259.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:50:59.737Z,1628902259.737 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-14T00:50:59.738Z,1628902259.738 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-14T00:50:59.738Z,1628902259.738 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T00:50:59.738Z,1628902259.738 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T00:50:59.738Z,1628902259.738 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T00:50:59.738Z,1628902259.738 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T00:50:59.738Z,1628902259.738 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T00:50:59.738Z,1628902259.738 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T00:50:59.738Z,1628902259.738 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T00:50:59.739Z,1628902259.739 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T00:50:59.739Z,1628902259.739 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T00:50:59.739Z,1628902259.739 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T00:50:59.739Z,1628902259.739 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T00:50:59.739Z,1628902259.739 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T00:50:59.739Z,1628902259.739 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T00:50:59.739Z,1628902259.739 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T00:50:59.739Z,1628902259.739 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T00:50:59.740Z,1628902259.740 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T00:50:59.764Z,1628902259.764 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T00:50:59.765Z,1628902259.765 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-14T00:50:59.765Z,1628902259.765 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T00:50:59.765Z,1628902259.765 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T00:50:59.765Z,1628902259.765 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T00:50:59.765Z,1628902259.765 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T00:50:59.765Z,1628902259.765 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T00:50:59.765Z,1628902259.765 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T00:50:59.766Z,1628902259.766 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T00:50:59.766Z,1628902259.766 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T00:50:59.766Z,1628902259.766 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T00:50:59.766Z,1628902259.766 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T00:50:59.766Z,1628902259.766 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T00:50:59.767Z,1628902259.767 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T00:50:59.767Z,1628902259.767 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T00:50:59.772Z,1628902259.772 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-14T00:50:59.772Z,1628902259.772 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-14T00:50:59.797Z,1628902259.797 [DataOverHttps](INFO): Sending 472 bytes from file Logs/20210814T003940/Express0014.lzma
2021-08-14T00:51:00.132Z,1628902260.132 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4F,000,00C48,186,80,80,9E,FF
2021-08-14T00:51:00.133Z,1628902260.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:51:00.156Z,1628902260.156 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-14T00:51:00.156Z,1628902260.156 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-14T00:51:00.545Z,1628902260.545 [Micromodem](INFO): Nmea in: $SNTTA,0.100544,,,,005100.35*46

2021-08-14T00:51:00.569Z,1628902260.569 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-14T00:51:00.570Z,1628902260.570 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-14T00:51:00.798Z,1628902260.798 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Express0014.lzma.bak
2021-08-14T00:51:00.798Z,1628902260.798 [DataOverHttps](INFO): SBD MOMSN=434803
2021-08-14T00:51:00.991Z,1628902260.991 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-14T00:51:00.991Z,1628902260.991 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-14T00:51:01.395Z,1628902261.395 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-14T00:51:01.395Z,1628902261.395 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-14T00:51:01.395Z,1628902261.395 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T00:51:01.395Z,1628902261.395 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T00:51:01.395Z,1628902261.395 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T00:51:01.395Z,1628902261.395 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-14T00:51:01.400Z,1628902261.400 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T00:51:01.400Z,1628902261.400 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-14T00:51:01.400Z,1628902261.400 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-14T00:51:01.401Z,1628902261.401 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T00:51:01.401Z,1628902261.401 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T00:51:01.401Z,1628902261.401 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T00:51:01.401Z,1628902261.401 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T00:51:01.402Z,1628902261.402 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T00:51:01.402Z,1628902261.402 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T00:51:01.402Z,1628902261.402 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T00:51:01.402Z,1628902261.402 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T00:51:01.402Z,1628902261.402 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T00:51:01.403Z,1628902261.403 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T00:51:01.403Z,1628902261.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T00:51:01.403Z,1628902261.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T00:51:01.403Z,1628902261.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T00:51:01.403Z,1628902261.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T00:51:01.403Z,1628902261.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T00:51:01.403Z,1628902261.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T00:51:01.403Z,1628902261.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T00:51:01.408Z,1628902261.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T00:51:01.408Z,1628902261.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T00:51:01.775Z,1628902261.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T00:51:01.777Z,1628902261.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T00:51:01.777Z,1628902261.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T00:51:01.778Z,1628902261.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T00:51:01.778Z,1628902261.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T00:51:01.778Z,1628902261.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T00:51:01.778Z,1628902261.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T00:51:01.778Z,1628902261.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T00:51:01.778Z,1628902261.778 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T00:51:01.778Z,1628902261.778 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T00:51:01.778Z,1628902261.778 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T00:51:01.778Z,1628902261.778 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T00:51:01.778Z,1628902261.778 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T00:51:01.778Z,1628902261.778 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T00:51:01.778Z,1628902261.778 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T00:51:01.779Z,1628902261.779 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T00:51:01.779Z,1628902261.779 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T00:51:02.145Z,1628902262.145 [PowerOnly](INFO): Powering up loadControl
2021-08-14T00:51:02.687Z,1628902262.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:51:02.974Z,1628902262.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:51:02.974Z,1628902262.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:51:02.974Z,1628902262.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:51:02.975Z,1628902262.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:51:03.393Z,1628902263.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4F,000,00C48,186,80,80,9E,FF
2021-08-14T00:51:03.394Z,1628902263.394 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:51:03.394Z,1628902263.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:51:03.396Z,1628902263.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:51:03.785Z,1628902263.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:51:04.203Z,1628902264.203 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,00C53,186,80,80,9E,FF
2021-08-14T00:51:04.204Z,1628902264.204 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:51:04.621Z,1628902264.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005104.43*59

2021-08-14T00:51:04.646Z,1628902264.646 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-14T00:51:05.063Z,1628902265.063 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T00:51:07.054Z,1628902267.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:51:07.425Z,1628902267.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:51:07.425Z,1628902267.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:51:07.426Z,1628902267.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:51:07.427Z,1628902267.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:51:07.822Z,1628902267.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E19,000,00C53,186,80,80,9E,FF
2021-08-14T00:51:07.822Z,1628902267.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:51:07.822Z,1628902267.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:51:07.823Z,1628902267.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:51:08.259Z,1628902268.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:51:08.625Z,1628902268.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,00C72,188,80,80,9E,FF
2021-08-14T00:51:08.626Z,1628902268.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:51:09.097Z,1628902269.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005108.86*5C

2021-08-14T00:51:11.528Z,1628902271.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:51:11.853Z,1628902271.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:51:11.853Z,1628902271.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:51:11.854Z,1628902271.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:51:11.855Z,1628902271.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:51:12.262Z,1628902272.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,00C72,188,80,80,9E,FF
2021-08-14T00:51:12.262Z,1628902272.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:51:12.262Z,1628902272.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:51:12.266Z,1628902272.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:51:12.669Z,1628902272.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:51:13.073Z,1628902273.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,00C66,189,80,80,9E,FF
2021-08-14T00:51:13.074Z,1628902273.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:51:13.521Z,1628902273.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005113.30*5B

2021-08-14T00:51:16.001Z,1628902276.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:51:16.301Z,1628902276.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:51:16.301Z,1628902276.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:51:16.301Z,1628902276.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:51:16.302Z,1628902276.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:51:16.713Z,1628902276.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCB,000,00C66,189,80,80,9E,FF
2021-08-14T00:51:16.713Z,1628902276.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:51:16.713Z,1628902276.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:51:16.715Z,1628902276.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:51:17.112Z,1628902277.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:51:17.518Z,1628902277.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,00C6F,188,80,80,9E,FF
2021-08-14T00:51:17.518Z,1628902277.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:51:17.522Z,1628902277.522 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T00:51:17.981Z,1628902277.981 [Micromodem](INFO): Nmea in: $SNTTA,0.102051,,,,005117.75*47

2021-08-14T00:51:20.394Z,1628902280.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:51:20.749Z,1628902280.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:51:20.749Z,1628902280.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:51:20.749Z,1628902280.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:51:20.750Z,1628902280.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:51:21.149Z,1628902281.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,00C6F,188,80,80,9E,FF
2021-08-14T00:51:21.149Z,1628902281.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:51:21.149Z,1628902281.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:51:21.151Z,1628902281.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:51:21.566Z,1628902281.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:51:21.961Z,1628902281.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA4,000,00C75,189,80,80,9E,FF
2021-08-14T00:51:21.962Z,1628902281.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:51:22.403Z,1628902282.403 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005122.19*52

2021-08-14T00:51:24.815Z,1628902284.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:51:25.189Z,1628902285.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:51:25.189Z,1628902285.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:51:25.189Z,1628902285.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:51:25.190Z,1628902285.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:51:25.286Z,1628902285.286 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 153.84 m. Transitioning DDM to standby.
2021-08-14T00:51:25.593Z,1628902285.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA4,000,00C75,189,80,80,9E,FF
2021-08-14T00:51:25.593Z,1628902285.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:51:25.593Z,1628902285.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:51:25.595Z,1628902285.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:51:26.037Z,1628902286.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:51:26.408Z,1628902286.408 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,0092F,188,80,80,8C,FF
2021-08-14T00:51:26.409Z,1628902286.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:51:26.844Z,1628902286.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005126.63*5B

2021-08-14T00:51:27.674Z,1628902287.674 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-14T00:51:28.093Z,1628902288.093 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T00:51:28.093Z,1628902288.093 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-14T00:51:28.093Z,1628902288.093 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-14T00:51:28.451Z,1628902288.451 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-14T00:51:28.459Z,1628902288.459 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-14T00:51:28.464Z,1628902288.464 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-14T00:51:28.920Z,1628902288.920 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-14T00:51:28.920Z,1628902288.920 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T00:51:28.920Z,1628902288.920 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-14T00:51:28.920Z,1628902288.920 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T00:51:28.921Z,1628902288.921 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T00:51:29.300Z,1628902289.300 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T00:51:29.300Z,1628902289.300 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T00:51:29.300Z,1628902289.300 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T00:51:29.300Z,1628902289.300 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T00:51:29.300Z,1628902289.300 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T00:51:29.300Z,1628902289.300 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T00:51:29.301Z,1628902289.301 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T00:51:29.301Z,1628902289.301 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T00:51:29.301Z,1628902289.301 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T00:51:29.301Z,1628902289.301 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T00:51:29.301Z,1628902289.301 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T00:51:29.302Z,1628902289.302 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T00:51:29.302Z,1628902289.302 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-14T00:51:29.302Z,1628902289.302 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T00:51:29.302Z,1628902289.302 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-14T00:51:29.303Z,1628902289.303 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 103.559998 m 
2021-08-14T00:51:29.303Z,1628902289.303 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-14T00:51:29.303Z,1628902289.303 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-14T00:51:29.304Z,1628902289.304 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-14T00:51:29.305Z,1628902289.305 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T00:51:29.305Z,1628902289.305 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-14T00:51:29.305Z,1628902289.305 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-14T00:51:29.307Z,1628902289.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:51:29.605Z,1628902289.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:51:29.605Z,1628902289.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:51:29.605Z,1628902289.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:51:29.606Z,1628902289.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:51:29.663Z,1628902289.663 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-14T00:51:29.663Z,1628902289.663 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T00:51:29.663Z,1628902289.663 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-14T00:51:29.663Z,1628902289.663 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T00:51:29.663Z,1628902289.663 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T00:51:29.668Z,1628902289.668 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T00:51:29.668Z,1628902289.668 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T00:51:29.668Z,1628902289.668 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T00:51:29.668Z,1628902289.668 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T00:51:29.668Z,1628902289.668 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T00:51:29.668Z,1628902289.668 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T00:51:29.668Z,1628902289.668 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T00:51:29.669Z,1628902289.669 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T00:51:29.669Z,1628902289.669 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T00:51:29.669Z,1628902289.669 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T00:51:30.006Z,1628902290.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,0092F,188,80,80,8C,FF
2021-08-14T00:51:30.006Z,1628902290.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:51:30.007Z,1628902290.007 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:51:30.008Z,1628902290.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:51:30.094Z,1628902290.094 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T00:51:30.095Z,1628902290.095 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T00:51:30.095Z,1628902290.095 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T00:51:30.109Z,1628902290.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T00:51:30.109Z,1628902290.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T00:51:30.109Z,1628902290.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T00:51:30.109Z,1628902290.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T00:51:30.109Z,1628902290.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T00:51:30.110Z,1628902290.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T00:51:30.110Z,1628902290.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T00:51:30.110Z,1628902290.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T00:51:30.110Z,1628902290.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T00:51:30.110Z,1628902290.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T00:51:30.110Z,1628902290.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T00:51:30.110Z,1628902290.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T00:51:30.111Z,1628902290.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T00:51:30.111Z,1628902290.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-14T00:51:30.111Z,1628902290.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T00:51:30.120Z,1628902290.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-14T00:51:30.120Z,1628902290.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-14T00:51:30.120Z,1628902290.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T00:51:30.120Z,1628902290.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T00:51:30.121Z,1628902290.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-14T00:51:30.121Z,1628902290.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T00:51:30.122Z,1628902290.122 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T00:51:30.122Z,1628902290.122 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T00:51:30.122Z,1628902290.122 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T00:51:30.122Z,1628902290.122 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T00:51:30.122Z,1628902290.122 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T00:51:30.122Z,1628902290.122 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T00:51:30.122Z,1628902290.122 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T00:51:30.122Z,1628902290.122 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-14T00:51:30.123Z,1628902290.123 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-14T00:51:30.418Z,1628902290.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:51:30.485Z,1628902290.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.559998 m, bearing: 260.365636 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T00:51:30.486Z,1628902290.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 260.365636deg and heading rate command to 0 deg/s.
2021-08-14T00:51:30.819Z,1628902290.819 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,00CB7,188,80,80,8C,FF
2021-08-14T00:51:30.819Z,1628902290.819 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:51:31.341Z,1628902291.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005131.04*5C

2021-08-14T00:51:31.477Z,1628902291.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.800003 m, bearing: 258.138803 deg, deltaT: 4.500943 s, approachRate: 12.050809 m/s, LOS rate: -0.494748 deg/s, posRepo size: 2
2021-08-14T00:51:31.484Z,1628902291.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.494748 deg/s. Setting heading cmd to target bearing of 258.138803deg and heading rate command to 0 deg/s.
2021-08-14T00:51:33.431Z,1628902293.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:51:33.797Z,1628902293.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:51:33.797Z,1628902293.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:51:33.797Z,1628902293.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:51:33.798Z,1628902293.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:51:34.198Z,1628902294.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DED,000,00CB7,188,80,80,8C,FF
2021-08-14T00:51:34.198Z,1628902294.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:51:34.199Z,1628902294.199 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:51:34.202Z,1628902294.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:51:34.604Z,1628902294.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:51:35.003Z,1628902295.003 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,00C8A,186,80,80,8C,FF
2021-08-14T00:51:35.003Z,1628902295.003 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:51:35.457Z,1628902295.457 [Micromodem](INFO): Nmea in: $SNTTA,0.103152,,,,005135.24*40

2021-08-14T00:51:35.490Z,1628902295.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.100006 m, bearing: 258.142574 deg, deltaT: 4.179268 s, approachRate: -0.646045 m/s, LOS rate: 0.000902 deg/s, posRepo size: 3
2021-08-14T00:51:35.512Z,1628902295.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.100006 m,
      bearing: 258.142574 deg,
      approachRate: -0.646045 m/s,
      LOS rate: 0.000902 deg/s,
      cmd update: 0.002706 deg/s,
      cmd heading: 258.138803 deg,
      new cmd heading: 258.138803 deg.

2021-08-14T00:51:37.862Z,1628902297.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:51:38.233Z,1628902298.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:51:38.233Z,1628902298.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:51:38.233Z,1628902298.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:51:38.234Z,1628902298.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:51:38.637Z,1628902298.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,00C8A,186,80,80,8C,FF
2021-08-14T00:51:38.637Z,1628902298.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:51:38.637Z,1628902298.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:51:38.639Z,1628902298.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:51:39.045Z,1628902299.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:51:39.462Z,1628902299.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,00C87,186,80,80,A2,FF
2021-08-14T00:51:39.462Z,1628902299.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:51:39.898Z,1628902299.898 [Micromodem](INFO): Nmea in: $SNTTA,0.103037,,,,005139.68*46

2021-08-14T00:51:39.948Z,1628902299.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.919998 m, bearing: 258.158529 deg, deltaT: 4.408430 s, approachRate: -0.040833 m/s, LOS rate: 0.003619 deg/s, posRepo size: 4
2021-08-14T00:51:39.950Z,1628902299.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.919998 m,
      bearing: 258.158529 deg,
      approachRate: -0.040833 m/s,
      LOS rate: 0.003619 deg/s,
      cmd update: 0.010858 deg/s,
      cmd heading: 258.150659 deg,
      new cmd heading: 258.151913 deg.

2021-08-14T00:51:42.299Z,1628902302.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:51:42.689Z,1628902302.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:51:42.689Z,1628902302.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:51:42.689Z,1628902302.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:51:42.690Z,1628902302.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:51:43.081Z,1628902303.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00C87,186,80,80,A2,FF
2021-08-14T00:51:43.081Z,1628902303.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:51:43.081Z,1628902303.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:51:43.083Z,1628902303.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:51:43.571Z,1628902303.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:51:43.932Z,1628902303.932 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,00C71,186,80,80,B1,FF
2021-08-14T00:51:43.933Z,1628902303.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:51:44.349Z,1628902304.349 [Micromodem](INFO): Nmea in: $SNTTA,0.104522,,,,005144.12*47

2021-08-14T00:51:44.374Z,1628902304.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.599991 m, bearing: 258.871000 deg, deltaT: 4.478321 s, approachRate: -0.294755 m/s, LOS rate: 0.159093 deg/s, posRepo size: 4
2021-08-14T00:51:44.405Z,1628902304.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.599991 m,
      bearing: 258.871000 deg,
      approachRate: -0.294755 m/s,
      LOS rate: 0.159093 deg/s,
      cmd update: 0.477280 deg/s,
      cmd heading: 258.199261 deg,
      new cmd heading: 258.203732 deg.

2021-08-14T00:51:46.811Z,1628902306.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:51:47.157Z,1628902307.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:51:47.157Z,1628902307.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:51:47.157Z,1628902307.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:51:47.158Z,1628902307.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:51:47.569Z,1628902307.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,00C71,186,80,80,B1,FF
2021-08-14T00:51:47.569Z,1628902307.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:51:47.569Z,1628902307.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:51:47.571Z,1628902307.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:51:47.965Z,1628902307.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:51:48.378Z,1628902308.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00C4D,183,80,80,B9,FF
2021-08-14T00:51:48.379Z,1628902308.379 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:51:48.831Z,1628902308.831 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005148.61*51

2021-08-14T00:51:48.924Z,1628902308.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.440018 m, bearing: 257.465347 deg, deltaT: 4.440946 s, approachRate: -0.486377 m/s, LOS rate: -0.316521 deg/s, posRepo size: 4
2021-08-14T00:51:48.926Z,1628902308.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.440018 m,
      bearing: 257.465347 deg,
      approachRate: -0.486377 m/s,
      LOS rate: -0.316521 deg/s,
      cmd update: -0.949563 deg/s,
      cmd heading: 260.331278 deg,
      new cmd heading: 260.568307 deg.

2021-08-14T00:51:51.304Z,1628902311.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:51:51.605Z,1628902311.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:51:51.605Z,1628902311.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:51:51.605Z,1628902311.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:51:51.606Z,1628902311.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:51:52.014Z,1628902312.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,00C4D,183,80,80,B9,FF
2021-08-14T00:51:52.014Z,1628902312.014 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:51:52.014Z,1628902312.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:51:52.016Z,1628902312.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:51:52.424Z,1628902312.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:51:52.827Z,1628902312.827 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00C26,184,80,80,9F,FF
2021-08-14T00:51:52.827Z,1628902312.827 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:51:53.261Z,1628902313.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005153.05*59

2021-08-14T00:51:53.321Z,1628902313.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.099991 m, bearing: 256.800524 deg, deltaT: 4.491424 s, approachRate: -0.520999 m/s, LOS rate: -0.148021 deg/s, posRepo size: 4
2021-08-14T00:51:53.323Z,1628902313.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.099991 m,
      bearing: 256.800524 deg,
      approachRate: -0.520999 m/s,
      LOS rate: -0.148021 deg/s,
      cmd update: -0.444062 deg/s,
      cmd heading: 256.072834 deg,
      new cmd heading: 255.685065 deg.

2021-08-14T00:51:55.663Z,1628902315.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:51:56.049Z,1628902316.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:51:56.049Z,1628902316.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:51:56.049Z,1628902316.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:51:56.050Z,1628902316.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:51:56.457Z,1628902316.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00C26,184,80,80,9F,FF
2021-08-14T00:51:56.457Z,1628902316.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:51:56.457Z,1628902316.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:51:56.458Z,1628902316.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:51:56.898Z,1628902316.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:51:57.262Z,1628902317.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,00C00,186,80,80,9F,FF
2021-08-14T00:51:57.262Z,1628902317.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:51:57.699Z,1628902317.699 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005157.50*5D

2021-08-14T00:51:57.750Z,1628902317.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.819992 m, bearing: 254.948313 deg, deltaT: 4.358605 s, approachRate: -0.523103 m/s, LOS rate: -0.424955 deg/s, posRepo size: 4
2021-08-14T00:51:57.753Z,1628902317.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.819992 m,
      bearing: 254.948313 deg,
      approachRate: -0.523103 m/s,
      LOS rate: -0.424955 deg/s,
      cmd update: -1.274865 deg/s,
      cmd heading: 254.132542 deg,
      new cmd heading: 253.924998 deg.

2021-08-14T00:52:00.107Z,1628902320.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:52:00.493Z,1628902320.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:52:00.494Z,1628902320.494 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:52:00.494Z,1628902320.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:52:00.495Z,1628902320.495 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:52:00.945Z,1628902320.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,00C00,186,80,80,9F,FF
2021-08-14T00:52:00.945Z,1628902320.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:52:00.945Z,1628902320.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:52:00.947Z,1628902320.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:52:01.465Z,1628902321.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:52:01.885Z,1628902321.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,0077B,185,80,80,B7,FF
2021-08-14T00:52:01.886Z,1628902321.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:52:02.293Z,1628902322.293 [Micromodem](INFO): Nmea in: $SNTTA,0.053721,,,,005201.98*45

2021-08-14T00:52:02.343Z,1628902322.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.400002 m, bearing: 257.596213 deg, deltaT: 4.641088 s, approachRate: -14.957698 m/s, LOS rate: 0.570534 deg/s, posRepo size: 4
2021-08-14T00:52:02.350Z,1628902322.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.400002 m,
      bearing: 257.596213 deg,
      approachRate: -14.957698 m/s,
      LOS rate: 0.570534 deg/s,
      cmd update: 1.711603 deg/s,
      cmd heading: 248.241342 deg,
      new cmd heading: 247.679159 deg.

2021-08-14T00:52:04.326Z,1628902324.326 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T00:52:04.722Z,1628902324.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:52:05.105Z,1628902325.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:52:05.105Z,1628902325.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:52:05.106Z,1628902325.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:52:05.106Z,1628902325.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:52:05.509Z,1628902325.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,0077B,185,80,80,B7,FF
2021-08-14T00:52:05.509Z,1628902325.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:52:05.509Z,1628902325.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:52:05.511Z,1628902325.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:52:05.925Z,1628902325.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:52:06.333Z,1628902326.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,00BB0,186,80,80,B5,FF
2021-08-14T00:52:06.333Z,1628902326.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:52:06.765Z,1628902326.765 [Micromodem](INFO): Nmea in: $SNTTA,0.094482,,,,005206.55*42

2021-08-14T00:52:06.787Z,1628902326.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.020004 m, bearing: 257.979141 deg, deltaT: 4.440244 s, approachRate: 14.553255 m/s, LOS rate: 0.086240 deg/s, posRepo size: 4
2021-08-14T00:52:06.790Z,1628902326.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.020004 m,
      bearing: 257.979141 deg,
      approachRate: 14.553255 m/s,
      LOS rate: 0.086240 deg/s,
      cmd update: 0.258721 deg/s,
      cmd heading: 255.873740 deg,
      new cmd heading: 256.602587 deg.

2021-08-14T00:52:09.267Z,1628902329.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:52:09.549Z,1628902329.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:52:09.549Z,1628902329.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:52:09.549Z,1628902329.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:52:09.550Z,1628902329.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:52:09.969Z,1628902329.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,00BB0,186,80,80,B5,FF
2021-08-14T00:52:09.970Z,1628902329.970 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:52:09.970Z,1628902329.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:52:09.971Z,1628902329.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:52:10.403Z,1628902330.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:52:10.813Z,1628902330.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,00B85,186,80,80,B8,FF
2021-08-14T00:52:10.814Z,1628902330.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:52:11.230Z,1628902331.230 [Micromodem](INFO): Nmea in: $SNTTA,0.095488,,,,005211.01*4E

2021-08-14T00:52:11.265Z,1628902331.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.440002 m, bearing: 259.264828 deg, deltaT: 4.568770 s, approachRate: -0.564704 m/s, LOS rate: 0.281408 deg/s, posRepo size: 4
2021-08-14T00:52:11.267Z,1628902331.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.440002 m,
      bearing: 259.264828 deg,
      approachRate: -0.564704 m/s,
      LOS rate: 0.281408 deg/s,
      cmd update: 0.844223 deg/s,
      cmd heading: 257.054924 deg,
      new cmd heading: 257.142475 deg.

2021-08-14T00:52:13.647Z,1628902333.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:52:14.045Z,1628902334.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:52:14.045Z,1628902334.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:52:14.046Z,1628902334.046 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:52:14.046Z,1628902334.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:52:14.445Z,1628902334.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,00B85,186,80,80,B8,FF
2021-08-14T00:52:14.445Z,1628902334.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:52:14.445Z,1628902334.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:52:14.447Z,1628902334.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:52:14.897Z,1628902334.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:52:15.253Z,1628902335.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9E,000,00B61,187,80,80,9A,FF
2021-08-14T00:52:15.253Z,1628902335.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:52:15.689Z,1628902335.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005215.48*51

2021-08-14T00:52:15.729Z,1628902335.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.279999 m, bearing: 260.920630 deg, deltaT: 4.374025 s, approachRate: -0.493825 m/s, LOS rate: 0.378553 deg/s, posRepo size: 4
2021-08-14T00:52:15.730Z,1628902335.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.279999 m,
      bearing: 260.920630 deg,
      approachRate: -0.493825 m/s,
      LOS rate: 0.378553 deg/s,
      cmd update: 1.135660 deg/s,
      cmd heading: 260.730171 deg,
      new cmd heading: 261.108219 deg.

2021-08-14T00:52:18.104Z,1628902338.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:52:18.509Z,1628902338.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:52:18.509Z,1628902338.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:52:18.509Z,1628902338.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:52:18.510Z,1628902338.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:52:18.929Z,1628902338.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9E,000,00B61,187,80,80,9A,FF
2021-08-14T00:52:18.929Z,1628902338.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:52:18.929Z,1628902338.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:52:18.931Z,1628902338.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:52:19.349Z,1628902339.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:52:19.761Z,1628902339.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,00B3A,186,80,80,9C,FF
2021-08-14T00:52:19.761Z,1628902339.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:52:20.181Z,1628902340.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005219.97*5F

2021-08-14T00:52:20.212Z,1628902340.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.940002 m, bearing: 254.798978 deg, deltaT: 4.531744 s, approachRate: -0.516357 m/s, LOS rate: -1.350838 deg/s, posRepo size: 4
2021-08-14T00:52:20.214Z,1628902340.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.940002 m,
      bearing: 254.798978 deg,
      approachRate: -0.516357 m/s,
      LOS rate: -1.350838 deg/s,
      cmd update: -4.052514 deg/s,
      cmd heading: 265.895664 deg,
      new cmd heading: 266.330619 deg.

2021-08-14T00:52:22.607Z,1628902342.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:52:22.981Z,1628902342.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:52:22.981Z,1628902342.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:52:22.981Z,1628902342.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:52:22.982Z,1628902342.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:52:23.382Z,1628902343.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,00B3A,186,80,80,9C,FF
2021-08-14T00:52:23.382Z,1628902343.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:52:23.382Z,1628902343.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:52:23.385Z,1628902343.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:52:23.793Z,1628902343.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:52:24.226Z,1628902344.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,066,000,00B0F,186,80,80,99,FF
2021-08-14T00:52:24.226Z,1628902344.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:52:24.629Z,1628902344.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005224.42*59

2021-08-14T00:52:24.670Z,1628902344.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.360001 m, bearing: 258.995446 deg, deltaT: 4.412681 s, approachRate: -0.584679 m/s, LOS rate: 0.951002 deg/s, posRepo size: 4
2021-08-14T00:52:24.671Z,1628902344.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.360001 m,
      bearing: 258.995446 deg,
      approachRate: -0.584679 m/s,
      LOS rate: 0.951002 deg/s,
      cmd update: 2.853006 deg/s,
      cmd heading: 247.980304 deg,
      new cmd heading: 246.278945 deg.

2021-08-14T00:52:27.072Z,1628902347.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:52:27.437Z,1628902347.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:52:27.437Z,1628902347.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:52:27.437Z,1628902347.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:52:27.438Z,1628902347.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:52:27.839Z,1628902347.839 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
066,000,00B0F,186,80,80,99,FF
2021-08-14T00:52:27.839Z,1628902347.839 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:52:27.840Z,1628902347.840 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:52:27.841Z,1628902347.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:52:28.232Z,1628902348.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:52:28.634Z,1628902348.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,00AE9,186,80,80,BF,FF
2021-08-14T00:52:28.635Z,1628902348.635 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:52:29.061Z,1628902349.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005228.88*53

2021-08-14T00:52:29.154Z,1628902349.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.080002 m, bearing: 261.925023 deg, deltaT: 4.440400 s, approachRate: -0.513467 m/s, LOS rate: 0.659755 deg/s, posRepo size: 4
2021-08-14T00:52:29.160Z,1628902349.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.080002 m,
      bearing: 261.925023 deg,
      approachRate: -0.513467 m/s,
      LOS rate: 0.659755 deg/s,
      cmd update: 1.979266 deg/s,
      cmd heading: 260.580168 deg,
      new cmd heading: 261.971474 deg.

2021-08-14T00:52:31.475Z,1628902351.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:52:31.884Z,1628902351.884 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:52:31.884Z,1628902351.884 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:52:31.885Z,1628902351.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:52:31.885Z,1628902351.885 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:52:32.257Z,1628902352.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,00AE9,186,80,80,BF,FF
2021-08-14T00:52:32.257Z,1628902352.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:52:32.258Z,1628902352.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:52:32.259Z,1628902352.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:52:32.684Z,1628902352.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:52:33.073Z,1628902353.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,00AC7,186,80,80,B1,FF
2021-08-14T00:52:33.074Z,1628902353.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:52:33.517Z,1628902353.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005233.29*52

2021-08-14T00:52:33.519Z,1628902353.519 [PowerOnly](INFO): Powering down loadControl
2021-08-14T00:52:33.563Z,1628902353.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.039993 m, bearing: 263.416545 deg, deltaT: 4.457945 s, approachRate: -0.457612 m/s, LOS rate: 0.334576 deg/s, posRepo size: 4
2021-08-14T00:52:33.565Z,1628902353.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.039993 m,
      bearing: 263.416545 deg,
      approachRate: -0.457612 m/s,
      LOS rate: 0.334576 deg/s,
      cmd update: 1.003728 deg/s,
      cmd heading: 269.443044 deg,
      new cmd heading: 270.272990 deg.

2021-08-14T00:52:35.963Z,1628902355.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:52:36.310Z,1628902356.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:52:36.310Z,1628902356.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:52:36.310Z,1628902356.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:52:36.311Z,1628902356.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:52:36.705Z,1628902356.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,00AC7,186,80,80,B1,FF
2021-08-14T00:52:36.706Z,1628902356.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:52:36.706Z,1628902356.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:52:36.709Z,1628902356.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:52:37.126Z,1628902357.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:52:37.529Z,1628902357.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD1,000,00AA2,185,80,80,90,FF
2021-08-14T00:52:37.530Z,1628902357.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:52:37.962Z,1628902357.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005237.74*5E

2021-08-14T00:52:37.988Z,1628902357.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.820000 m, bearing: 262.369095 deg, deltaT: 4.464740 s, approachRate: -0.497228 m/s, LOS rate: -0.234605 deg/s, posRepo size: 4
2021-08-14T00:52:37.990Z,1628902357.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.820000 m,
      bearing: 262.369095 deg,
      approachRate: -0.497228 m/s,
      LOS rate: -0.234605 deg/s,
      cmd update: -0.703815 deg/s,
      cmd heading: 273.919184 deg,
      new cmd heading: 274.304857 deg.

2021-08-14T00:52:40.408Z,1628902360.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:52:40.753Z,1628902360.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:52:40.753Z,1628902360.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:52:40.753Z,1628902360.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:52:40.754Z,1628902360.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:52:41.157Z,1628902361.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD1,000,00AA2,185,80,80,90,FF
2021-08-14T00:52:41.157Z,1628902361.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:52:41.157Z,1628902361.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:52:41.159Z,1628902361.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:52:41.564Z,1628902361.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:52:41.974Z,1628902361.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,191,000,00A79,186,80,80,B3,FF
2021-08-14T00:52:41.974Z,1628902361.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:52:42.418Z,1628902362.418 [Micromodem](INFO): Nmea in: $SNTTA,0.092068,,,,005242.20*46

2021-08-14T00:52:42.483Z,1628902362.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.360001 m, bearing: 260.765339 deg, deltaT: 4.378794 s, approachRate: -0.561798 m/s, LOS rate: -0.366255 deg/s, posRepo size: 4
2021-08-14T00:52:42.490Z,1628902362.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.360001 m,
      bearing: 260.765339 deg,
      approachRate: -0.561798 m/s,
      LOS rate: -0.366255 deg/s,
      cmd update: -1.098765 deg/s,
      cmd heading: 270.830772 deg,
      new cmd heading: 270.484562 deg.

2021-08-14T00:52:44.902Z,1628902364.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:52:45.201Z,1628902365.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:52:45.201Z,1628902365.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:52:45.201Z,1628902365.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:52:45.202Z,1628902365.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:52:45.605Z,1628902365.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
191,000,00A79,186,80,80,B3,FF
2021-08-14T00:52:45.605Z,1628902365.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:52:45.605Z,1628902365.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:52:45.607Z,1628902365.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:52:46.009Z,1628902366.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:52:46.421Z,1628902366.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,00A50,185,80,80,AA,FF
2021-08-14T00:52:46.422Z,1628902366.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:52:46.881Z,1628902366.881 [Micromodem](INFO): Nmea in: $SNTTA,0.088365,,,,005246.64*47

2021-08-14T00:52:46.945Z,1628902366.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.900002 m, bearing: 259.857361 deg, deltaT: 4.511380 s, approachRate: -0.545287 m/s, LOS rate: -0.201264 deg/s, posRepo size: 4
2021-08-14T00:52:46.947Z,1628902366.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.900002 m,
      bearing: 259.857361 deg,
      approachRate: -0.545287 m/s,
      LOS rate: -0.201264 deg/s,
      cmd update: -0.603792 deg/s,
      cmd heading: 265.885031 deg,
      new cmd heading: 265.388224 deg.

2021-08-14T00:52:49.309Z,1628902369.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:52:49.650Z,1628902369.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:52:49.650Z,1628902369.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:52:49.651Z,1628902369.651 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:52:49.652Z,1628902369.652 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:52:50.048Z,1628902370.048 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,00A50,185,80,80,AA,FF
2021-08-14T00:52:50.049Z,1628902370.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:52:50.050Z,1628902370.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:52:50.073Z,1628902370.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:52:50.457Z,1628902370.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:52:50.909Z,1628902370.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,00A2A,186,80,80,B8,FF
2021-08-14T00:52:50.909Z,1628902370.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:52:51.278Z,1628902371.278 [Micromodem](INFO): Nmea in: $SNTTA,0.337085,,,,005251.11*49

2021-08-14T00:52:51.329Z,1628902371.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.620003 m, bearing: 261.190231 deg, deltaT: 4.482898 s, approachRate: -0.508599 m/s, LOS rate: 0.297323 deg/s, posRepo size: 4
2021-08-14T00:52:51.331Z,1628902371.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.620003 m,
      bearing: 261.190231 deg,
      approachRate: -0.508599 m/s,
      LOS rate: 0.297323 deg/s,
      cmd update: 0.891970 deg/s,
      cmd heading: 263.183792 deg,
      new cmd heading: 262.965856 deg.

2021-08-14T00:52:53.715Z,1628902373.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:52:54.085Z,1628902374.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:52:54.085Z,1628902374.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:52:54.085Z,1628902374.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:52:54.086Z,1628902374.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:52:54.485Z,1628902374.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
104,000,00A2A,186,80,80,B8,FF
2021-08-14T00:52:54.485Z,1628902374.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:52:54.486Z,1628902374.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:52:54.487Z,1628902374.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:52:54.944Z,1628902374.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:52:55.321Z,1628902375.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,00A04,184,80,80,D7,FF
2021-08-14T00:52:55.322Z,1628902375.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:52:55.361Z,1628902375.361 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T00:52:55.737Z,1628902375.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005255.52*5E

2021-08-14T00:52:55.770Z,1628902375.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.340004 m, bearing: 262.893435 deg, deltaT: 4.428484 s, approachRate: -0.514849 m/s, LOS rate: 0.384602 deg/s, posRepo size: 4
2021-08-14T00:52:55.773Z,1628902375.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.340004 m,
      bearing: 262.893435 deg,
      approachRate: -0.514849 m/s,
      LOS rate: 0.384602 deg/s,
      cmd update: 1.153806 deg/s,
      cmd heading: 267.141138 deg,
      new cmd heading: 267.468701 deg.

2021-08-14T00:52:58.193Z,1628902378.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:52:58.537Z,1628902378.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:52:58.537Z,1628902378.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:52:58.537Z,1628902378.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:52:58.538Z,1628902378.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:52:58.957Z,1628902378.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,00A04,184,80,80,D7,FF
2021-08-14T00:52:58.957Z,1628902378.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:52:58.957Z,1628902378.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:52:58.959Z,1628902378.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:52:59.463Z,1628902379.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:52:59.841Z,1628902379.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,009DA,186,80,80,6A,FF
2021-08-14T00:52:59.841Z,1628902379.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:53:00.275Z,1628902380.275 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005259.99*55

2021-08-14T00:53:00.329Z,1628902380.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.820000 m, bearing: 257.830707 deg, deltaT: 4.483631 s, approachRate: -0.562045 m/s, LOS rate: -1.129158 deg/s, posRepo size: 4
2021-08-14T00:53:00.331Z,1628902380.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.820000 m,
      bearing: 257.830707 deg,
      approachRate: -0.562045 m/s,
      LOS rate: -1.129158 deg/s,
      cmd update: -3.387474 deg/s,
      cmd heading: 272.322863 deg,
      new cmd heading: 272.805549 deg.

2021-08-14T00:53:02.694Z,1628902382.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:03.089Z,1628902383.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:53:03.089Z,1628902383.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:53:03.089Z,1628902383.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:53:03.089Z,1628902383.089 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:53:03.477Z,1628902383.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,009DA,186,80,80,6A,FF
2021-08-14T00:53:03.477Z,1628902383.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:53:03.477Z,1628902383.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:53:03.479Z,1628902383.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:53:03.885Z,1628902383.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:53:04.330Z,1628902384.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13D,000,009AC,185,80,80,AF,FF
2021-08-14T00:53:04.330Z,1628902384.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:53:04.737Z,1628902384.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005304.52*5B

2021-08-14T00:53:04.759Z,1628902384.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.060005 m, bearing: 259.409383 deg, deltaT: 4.511734 s, approachRate: -0.611737 m/s, LOS rate: 0.349904 deg/s, posRepo size: 4
2021-08-14T00:53:04.762Z,1628902384.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.060005 m,
      bearing: 259.409383 deg,
      approachRate: -0.611737 m/s,
      LOS rate: 0.349904 deg/s,
      cmd update: 1.049713 deg/s,
      cmd heading: 257.056589 deg,
      new cmd heading: 255.841984 deg.

2021-08-14T00:53:07.202Z,1628902387.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:07.517Z,1628902387.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:53:07.517Z,1628902387.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:53:07.517Z,1628902387.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:53:07.518Z,1628902387.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:53:07.925Z,1628902387.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13D,000,009AC,185,80,80,AF,FF
2021-08-14T00:53:07.925Z,1628902387.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:53:07.925Z,1628902387.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:53:07.927Z,1628902387.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:53:08.332Z,1628902388.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:53:08.737Z,1628902388.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00982,183,80,80,B9,FF
2021-08-14T00:53:08.738Z,1628902388.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:53:09.203Z,1628902389.203 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005308.96*5F

2021-08-14T00:53:09.276Z,1628902389.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.540001 m, bearing: 264.852770 deg, deltaT: 4.344068 s, approachRate: -0.580102 m/s, LOS rate: 1.253062 deg/s, posRepo size: 4
2021-08-14T00:53:09.278Z,1628902389.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.540001 m,
      bearing: 264.852770 deg,
      approachRate: -0.580102 m/s,
      LOS rate: 1.253062 deg/s,
      cmd update: 3.759187 deg/s,
      cmd heading: 261.626110 deg,
      new cmd heading: 262.173983 deg.

2021-08-14T00:53:11.584Z,1628902391.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:11.965Z,1628902391.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:53:11.965Z,1628902391.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:53:11.965Z,1628902391.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:53:11.966Z,1628902391.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:53:12.361Z,1628902392.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00982,183,80,80,B9,FF
2021-08-14T00:53:12.361Z,1628902392.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:53:12.361Z,1628902392.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:53:12.363Z,1628902392.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:53:12.773Z,1628902392.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:53:13.178Z,1628902393.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,00956,185,80,80,A6,FF
2021-08-14T00:53:13.178Z,1628902393.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:53:13.621Z,1628902393.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005313.40*5E

2021-08-14T00:53:13.643Z,1628902393.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.900002 m, bearing: 261.828444 deg, deltaT: 4.524213 s, approachRate: -0.583527 m/s, LOS rate: -0.668476 deg/s, posRepo size: 4
2021-08-14T00:53:13.646Z,1628902393.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.900002 m,
      bearing: 261.828444 deg,
      approachRate: -0.583527 m/s,
      LOS rate: -0.668476 deg/s,
      cmd update: -2.005427 deg/s,
      cmd heading: 278.561919 deg,
      new cmd heading: 280.006849 deg.

2021-08-14T00:53:16.039Z,1628902396.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:16.413Z,1628902396.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:53:16.413Z,1628902396.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:53:16.413Z,1628902396.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:53:16.414Z,1628902396.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:53:16.817Z,1628902396.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,00956,185,80,80,A6,FF
2021-08-14T00:53:16.817Z,1628902396.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:53:16.817Z,1628902396.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:53:16.821Z,1628902396.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:53:17.222Z,1628902397.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:53:17.616Z,1628902397.616 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,00929,187,80,80,B7,FF
2021-08-14T00:53:17.617Z,1628902397.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:53:18.069Z,1628902398.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005317.86*50

2021-08-14T00:53:18.108Z,1628902398.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.200005 m, bearing: 258.183500 deg, deltaT: 4.385990 s, approachRate: -0.615596 m/s, LOS rate: -0.831043 deg/s, posRepo size: 4
2021-08-14T00:53:18.116Z,1628902398.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.200005 m,
      bearing: 258.183500 deg,
      approachRate: -0.615596 m/s,
      LOS rate: -0.831043 deg/s,
      cmd update: -2.493127 deg/s,
      cmd heading: 269.736441 deg,
      new cmd heading: 268.839062 deg.

2021-08-14T00:53:20.484Z,1628902400.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:20.868Z,1628902400.868 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:53:20.869Z,1628902400.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:53:20.869Z,1628902400.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:53:20.871Z,1628902400.871 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:53:21.263Z,1628902401.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,00929,187,80,80,B7,FF
2021-08-14T00:53:21.263Z,1628902401.263 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:53:21.263Z,1628902401.263 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:53:21.266Z,1628902401.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:53:21.663Z,1628902401.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:53:22.108Z,1628902402.108 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-14T00:53:22.108Z,1628902402.108 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-14T00:53:22.108Z,1628902402.108 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-14T00:53:22.248Z,1628902402.248 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-14T00:53:22.498Z,1628902402.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005322.30*5B

2021-08-14T00:53:22.572Z,1628902402.572 [RDI_PathfinderUp](INFO): Powering down
2021-08-14T00:53:23.293Z,1628902403.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:23.388Z,1628902403.388 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-14T00:53:23.388Z,1628902403.388 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-14T00:53:24.953Z,1628902404.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,187,80,80,B7,FF
2021-08-14T00:53:24.953Z,1628902404.953 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,187,80,80,B7,FF
2021-08-14T00:53:24.953Z,1628902404.953 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T00:53:26.152Z,1628902406.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:26.529Z,1628902406.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:53:26.529Z,1628902406.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:53:26.529Z,1628902406.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:53:26.530Z,1628902406.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:53:26.949Z,1628902406.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,187,80,80,B7,FF
2021-08-14T00:53:26.949Z,1628902406.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:53:26.949Z,1628902406.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:53:26.951Z,1628902406.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:53:27.346Z,1628902407.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:53:27.750Z,1628902407.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,008BB,185,80,80,8A,FF
2021-08-14T00:53:27.751Z,1628902407.751 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:53:28.181Z,1628902408.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005327.99*5D

2021-08-14T00:53:28.205Z,1628902408.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.600006 m, bearing: 263.456679 deg, deltaT: 10.103159 s, approachRate: -0.653261 m/s, LOS rate: 0.521934 deg/s, posRepo size: 4
2021-08-14T00:53:28.207Z,1628902408.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.600006 m,
      bearing: 263.456679 deg,
      approachRate: -0.653261 m/s,
      LOS rate: 0.521934 deg/s,
      cmd update: 1.565801 deg/s,
      cmd heading: 244.537805 deg,
      new cmd heading: 243.446593 deg.

2021-08-14T00:53:30.606Z,1628902410.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:30.981Z,1628902410.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:53:30.981Z,1628902410.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:53:30.982Z,1628902410.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:53:30.982Z,1628902410.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:53:31.390Z,1628902411.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,008BB,185,80,80,8A,FF
2021-08-14T00:53:31.390Z,1628902411.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:53:31.391Z,1628902411.391 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:53:31.393Z,1628902411.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:53:31.785Z,1628902411.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:53:32.188Z,1628902412.188 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,0088A,186,80,80,A1,FF
2021-08-14T00:53:32.189Z,1628902412.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:53:32.621Z,1628902412.621 [Micromodem](INFO): Nmea in: $SNTTA,0.062236,,,,005332.43*43

2021-08-14T00:53:32.661Z,1628902412.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.660004 m, bearing: 262.764399 deg, deltaT: 4.438098 s, approachRate: -0.662446 m/s, LOS rate: -0.155986 deg/s, posRepo size: 4
2021-08-14T00:53:32.663Z,1628902412.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.660004 m,
      bearing: 262.764399 deg,
      approachRate: -0.662446 m/s,
      LOS rate: -0.155986 deg/s,
      cmd update: -0.467958 deg/s,
      cmd heading: 251.486782 deg,
      new cmd heading: 252.200316 deg.

2021-08-14T00:53:35.068Z,1628902415.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:35.429Z,1628902415.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:53:35.429Z,1628902415.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:53:35.429Z,1628902415.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:53:35.430Z,1628902415.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:53:35.828Z,1628902415.828 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,0088A,186,80,80,A1,FF
2021-08-14T00:53:35.828Z,1628902415.828 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:53:35.828Z,1628902415.828 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:53:35.830Z,1628902415.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:53:36.232Z,1628902416.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:53:36.630Z,1628902416.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,00854,184,80,80,9C,FF
2021-08-14T00:53:36.630Z,1628902416.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:53:37.078Z,1628902417.078 [Micromodem](INFO): Nmea in: $SNTTA,0.062825,,,,005336.87*47

2021-08-14T00:53:37.117Z,1628902417.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.420006 m, bearing: 260.401891 deg, deltaT: 4.468940 s, approachRate: -0.725004 m/s, LOS rate: -0.528651 deg/s, posRepo size: 4
2021-08-14T00:53:37.119Z,1628902417.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.420006 m,
      bearing: 260.401891 deg,
      approachRate: -0.725004 m/s,
      LOS rate: -0.528651 deg/s,
      cmd update: -1.585952 deg/s,
      cmd heading: 249.404741 deg,
      new cmd heading: 249.188293 deg.

2021-08-14T00:53:39.512Z,1628902419.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:39.861Z,1628902419.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:53:39.862Z,1628902419.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:53:39.862Z,1628902419.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:53:39.863Z,1628902419.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:53:40.268Z,1628902420.268 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,00854,184,80,80,9C,FF
2021-08-14T00:53:40.269Z,1628902420.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:53:40.269Z,1628902420.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:53:40.270Z,1628902420.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:53:40.673Z,1628902420.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:53:41.096Z,1628902421.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,00821,187,80,80,AC,FF
2021-08-14T00:53:41.097Z,1628902421.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:53:41.517Z,1628902421.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005341.31*5F

2021-08-14T00:53:41.539Z,1628902421.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.360008 m, bearing: 261.796452 deg, deltaT: 4.490532 s, approachRate: -0.681433 m/s, LOS rate: 0.310556 deg/s, posRepo size: 4
2021-08-14T00:53:41.542Z,1628902421.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.360008 m,
      bearing: 261.796452 deg,
      approachRate: -0.681433 m/s,
      LOS rate: 0.310556 deg/s,
      cmd update: 0.931667 deg/s,
      cmd heading: 242.251627 deg,
      new cmd heading: 241.657255 deg.

2021-08-14T00:53:43.945Z,1628902423.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:44.308Z,1628902424.308 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:53:44.309Z,1628902424.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:53:44.309Z,1628902424.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:53:44.310Z,1628902424.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:53:44.720Z,1628902424.720 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,00821,187,80,80,AC,FF
2021-08-14T00:53:44.720Z,1628902424.720 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:53:44.720Z,1628902424.720 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:53:44.722Z,1628902424.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:53:45.133Z,1628902425.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:53:45.525Z,1628902425.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,007ED,186,80,80,8A,FF
2021-08-14T00:53:45.526Z,1628902425.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:53:45.966Z,1628902425.966 [Micromodem](INFO): Nmea in: $SNTTA,,0.059976,,,005345.76*42

2021-08-14T00:53:45.992Z,1628902425.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.240005 m, bearing: 263.846355 deg, deltaT: 4.408528 s, approachRate: -0.707720 m/s, LOS rate: 0.464986 deg/s, posRepo size: 4
2021-08-14T00:53:45.994Z,1628902425.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.240005 m,
      bearing: 263.846355 deg,
      approachRate: -0.707720 m/s,
      LOS rate: 0.464986 deg/s,
      cmd update: 1.394958 deg/s,
      cmd heading: 246.348453 deg,
      new cmd heading: 246.748845 deg.

2021-08-14T00:53:46.477Z,1628902426.477 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.248402
2021-08-14T00:53:48.406Z,1628902428.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:48.749Z,1628902428.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:53:48.750Z,1628902428.750 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:53:48.750Z,1628902428.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:53:48.751Z,1628902428.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:53:49.156Z,1628902429.156 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,007ED,186,80,80,8A,FF
2021-08-14T00:53:49.156Z,1628902429.156 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:53:49.157Z,1628902429.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:53:49.158Z,1628902429.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:53:49.561Z,1628902429.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:53:50.406Z,1628902430.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005350.20*5F

2021-08-14T00:53:51.215Z,1628902431.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:52.814Z,1628902432.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,8A,FF
2021-08-14T00:53:52.816Z,1628902432.816 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,8A,FF
2021-08-14T00:53:52.816Z,1628902432.816 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T00:53:54.048Z,1628902434.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:54.413Z,1628902434.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:53:54.413Z,1628902434.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:53:54.413Z,1628902434.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:53:54.414Z,1628902434.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:53:54.861Z,1628902434.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,8A,FF
2021-08-14T00:53:54.861Z,1628902434.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:53:54.862Z,1628902434.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:53:54.868Z,1628902434.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:53:55.268Z,1628902435.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:53:55.677Z,1628902435.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,00771,183,80,80,99,FF
2021-08-14T00:53:55.677Z,1628902435.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:53:56.112Z,1628902436.112 [Micromodem](INFO): Nmea in: $SNTTA,0.053700,,,,005355.91*4F

2021-08-14T00:53:56.172Z,1628902436.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.800003 m, bearing: 260.744767 deg, deltaT: 10.120469 s, approachRate: -0.735144 m/s, LOS rate: -0.306467 deg/s, posRepo size: 4
2021-08-14T00:53:56.174Z,1628902436.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.800003 m,
      bearing: 260.744767 deg,
      approachRate: -0.735144 m/s,
      LOS rate: -0.306467 deg/s,
      cmd update: -0.919401 deg/s,
      cmd heading: 260.482147 deg,
      new cmd heading: 261.148521 deg.

2021-08-14T00:53:56.940Z,1628902436.940 [Radio_Surface](INFO): Powering down
2021-08-14T00:53:58.519Z,1628902438.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:53:58.949Z,1628902438.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:53:58.949Z,1628902438.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:53:58.949Z,1628902438.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:53:58.950Z,1628902438.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:53:59.309Z,1628902439.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,00771,183,80,80,99,FF
2021-08-14T00:53:59.309Z,1628902439.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:53:59.309Z,1628902439.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:53:59.311Z,1628902439.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:53:59.724Z,1628902439.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:54:00.129Z,1628902440.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,0073C,185,80,80,BD,FF
2021-08-14T00:54:00.130Z,1628902440.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:54:00.577Z,1628902440.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005400.35*59

2021-08-14T00:54:00.599Z,1628902440.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.620003 m, bearing: 260.919975 deg, deltaT: 4.499388 s, approachRate: -0.706763 m/s, LOS rate: 0.038940 deg/s, posRepo size: 4
2021-08-14T00:54:00.602Z,1628902440.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.620003 m,
      bearing: 260.919975 deg,
      approachRate: -0.706763 m/s,
      LOS rate: 0.038940 deg/s,
      cmd update: 0.116821 deg/s,
      cmd heading: 256.352958 deg,
      new cmd heading: 255.972125 deg.

2021-08-14T00:54:03.020Z,1628902443.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:54:03.354Z,1628902443.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:54:03.354Z,1628902443.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:54:03.354Z,1628902443.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:54:03.355Z,1628902443.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:54:03.773Z,1628902443.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,0073C,185,80,80,BD,FF
2021-08-14T00:54:03.773Z,1628902443.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:54:03.774Z,1628902443.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:54:03.785Z,1628902443.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:54:04.172Z,1628902444.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:54:04.582Z,1628902444.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00705,184,80,80,95,FF
2021-08-14T00:54:04.582Z,1628902444.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:54:04.979Z,1628902444.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005404.82*51

2021-08-14T00:54:05.070Z,1628902445.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.320000 m, bearing: 261.625123 deg, deltaT: 4.404898 s, approachRate: -0.749167 m/s, LOS rate: 0.160083 deg/s, posRepo size: 4
2021-08-14T00:54:05.076Z,1628902445.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.320000 m,
      bearing: 261.625123 deg,
      approachRate: -0.749167 m/s,
      LOS rate: 0.160083 deg/s,
      cmd update: 0.480249 deg/s,
      cmd heading: 256.868503 deg,
      new cmd heading: 256.923595 deg.

2021-08-14T00:54:07.417Z,1628902447.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:54:07.837Z,1628902447.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:54:07.837Z,1628902447.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:54:07.837Z,1628902447.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:54:07.838Z,1628902447.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:54:08.201Z,1628902448.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00705,184,80,80,95,FF
2021-08-14T00:54:08.201Z,1628902448.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:54:08.201Z,1628902448.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:54:08.203Z,1628902448.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:54:08.624Z,1628902448.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:54:09.005Z,1628902449.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,006CF,184,80,80,78,FF
2021-08-14T00:54:09.005Z,1628902449.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:54:09.461Z,1628902449.461 [Micromodem](INFO): Nmea in: $SNTTA,,0.270330,,,005409.24*4B

2021-08-14T00:54:09.483Z,1628902449.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.080002 m, bearing: 259.867142 deg, deltaT: 4.495672 s, approachRate: -0.720693 m/s, LOS rate: -0.391039 deg/s, posRepo size: 4
2021-08-14T00:54:09.506Z,1628902449.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.080002 m,
      bearing: 259.867142 deg,
      approachRate: -0.720693 m/s,
      LOS rate: -0.391039 deg/s,
      cmd update: -1.173116 deg/s,
      cmd heading: 259.027550 deg,
      new cmd heading: 259.214608 deg.

2021-08-14T00:54:11.898Z,1628902451.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:54:12.238Z,1628902452.238 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:54:12.239Z,1628902452.239 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:54:12.239Z,1628902452.239 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:54:12.240Z,1628902452.240 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:54:12.659Z,1628902452.659 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,006CF,184,80,80,78,FF
2021-08-14T00:54:12.659Z,1628902452.659 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:54:12.659Z,1628902452.659 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:54:12.662Z,1628902452.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:54:13.065Z,1628902453.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:54:13.469Z,1628902453.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,006A1,185,80,80,B0,FF
2021-08-14T00:54:13.470Z,1628902453.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:54:13.910Z,1628902453.910 [Micromodem](INFO): Nmea in: $SNTTA,0.071438,,,,005413.70*4D

2021-08-14T00:54:13.949Z,1628902453.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.320000 m, bearing: 260.737199 deg, deltaT: 4.400474 s, approachRate: -0.627206 m/s, LOS rate: 0.197719 deg/s, posRepo size: 4
2021-08-14T00:54:13.951Z,1628902453.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.320000 m,
      bearing: 260.737199 deg,
      approachRate: -0.627206 m/s,
      LOS rate: 0.197719 deg/s,
      cmd update: 0.593157 deg/s,
      cmd heading: 253.865313 deg,
      new cmd heading: 253.331923 deg.

2021-08-14T00:54:16.310Z,1628902456.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:54:16.689Z,1628902456.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:54:16.689Z,1628902456.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:54:16.690Z,1628902456.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:54:16.691Z,1628902456.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:54:17.101Z,1628902457.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,006A1,185,80,80,B0,FF
2021-08-14T00:54:17.101Z,1628902457.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:54:17.101Z,1628902457.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:54:17.103Z,1628902457.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:54:17.504Z,1628902457.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:54:17.901Z,1628902457.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00664,182,80,80,AE,FF
2021-08-14T00:54:17.902Z,1628902457.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:54:18.342Z,1628902458.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005418.14*53

2021-08-14T00:54:18.398Z,1628902458.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.660000 m, bearing: 259.352637 deg, deltaT: 4.433341 s, approachRate: -0.825562 m/s, LOS rate: -0.312307 deg/s, posRepo size: 4
2021-08-14T00:54:18.401Z,1628902458.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.660000 m,
      bearing: 259.352637 deg,
      approachRate: -0.825562 m/s,
      LOS rate: -0.312307 deg/s,
      cmd update: -0.936920 deg/s,
      cmd heading: 256.494964 deg,
      new cmd heading: 256.773271 deg.

2021-08-14T00:54:20.822Z,1628902460.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:54:21.145Z,1628902461.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:54:21.145Z,1628902461.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:54:21.145Z,1628902461.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:54:21.146Z,1628902461.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:54:21.545Z,1628902461.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00664,182,80,80,AE,FF
2021-08-14T00:54:21.545Z,1628902461.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:54:21.545Z,1628902461.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:54:21.547Z,1628902461.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:54:21.944Z,1628902461.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:54:22.349Z,1628902462.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00631,183,80,80,6F,FF
2021-08-14T00:54:22.349Z,1628902462.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:54:22.620Z,1628902462.620 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T00:54:22.811Z,1628902462.811 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005422.58*52

2021-08-14T00:54:22.898Z,1628902462.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.600002 m, bearing: 259.798212 deg, deltaT: 4.473216 s, approachRate: -0.684071 m/s, LOS rate: 0.099609 deg/s, posRepo size: 4
2021-08-14T00:54:22.906Z,1628902462.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.600002 m,
      bearing: 259.798212 deg,
      approachRate: -0.684071 m/s,
      LOS rate: 0.099609 deg/s,
      cmd update: 0.298828 deg/s,
      cmd heading: 252.329943 deg,
      new cmd heading: 251.846122 deg.

2021-08-14T00:54:23.625Z,1628902463.625 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-14T00:54:25.242Z,1628902465.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:54:25.577Z,1628902465.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:54:25.577Z,1628902465.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:54:25.580Z,1628902465.580 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:54:25.581Z,1628902465.581 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:54:25.981Z,1628902465.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00631,183,80,80,6F,FF
2021-08-14T00:54:25.981Z,1628902465.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:54:25.981Z,1628902465.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:54:25.983Z,1628902465.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:54:26.399Z,1628902466.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:54:26.819Z,1628902466.819 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,005F7,183,80,80,8F,FF
2021-08-14T00:54:26.821Z,1628902466.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:54:27.237Z,1628902467.237 [Micromodem](INFO): Nmea in: $SNTTA,0.049619,,,,005427.02*45

2021-08-14T00:54:27.330Z,1628902467.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.120003 m, bearing: 258.851220 deg, deltaT: 4.524181 s, approachRate: -0.769200 m/s, LOS rate: -0.209318 deg/s, posRepo size: 4
2021-08-14T00:54:27.337Z,1628902467.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.120003 m,
      bearing: 258.851220 deg,
      approachRate: -0.769200 m/s,
      LOS rate: -0.209318 deg/s,
      cmd update: -0.627954 deg/s,
      cmd heading: 253.687750 deg,
      new cmd heading: 253.811347 deg.

2021-08-14T00:54:29.635Z,1628902469.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:54:30.033Z,1628902470.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:54:30.033Z,1628902470.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:54:30.033Z,1628902470.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:54:30.034Z,1628902470.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:54:30.435Z,1628902470.435 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,005F7,183,80,80,8F,FF
2021-08-14T00:54:30.435Z,1628902470.435 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:54:30.435Z,1628902470.435 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:54:30.437Z,1628902470.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:54:30.901Z,1628902470.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:54:31.241Z,1628902471.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,005C1,182,80,80,64,FF
2021-08-14T00:54:31.242Z,1628902471.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:54:31.689Z,1628902471.689 [Micromodem](INFO): Nmea in: $SNTTA,0.047136,,,,005431.47*47

2021-08-14T00:54:31.724Z,1628902471.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.879997 m, bearing: 258.178828 deg, deltaT: 4.342313 s, approachRate: -0.746147 m/s, LOS rate: -0.154846 deg/s, posRepo size: 4
2021-08-14T00:54:31.726Z,1628902471.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.879997 m,
      bearing: 258.178828 deg,
      approachRate: -0.746147 m/s,
      LOS rate: -0.154846 deg/s,
      cmd update: -0.464539 deg/s,
      cmd heading: 250.955858 deg,
      new cmd heading: 250.671540 deg.

2021-08-14T00:54:33.295Z,1628902473.295 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T00:54:34.119Z,1628902474.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:54:34.477Z,1628902474.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:54:34.477Z,1628902474.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:54:34.477Z,1628902474.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:54:34.478Z,1628902474.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:54:34.898Z,1628902474.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,005C1,182,80,80,64,FF
2021-08-14T00:54:34.899Z,1628902474.899 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:54:34.900Z,1628902474.900 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:54:34.903Z,1628902474.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:54:35.292Z,1628902475.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:54:35.681Z,1628902475.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,00588,185,80,80,7A,FF
2021-08-14T00:54:35.681Z,1628902475.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:54:36.102Z,1628902476.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005435.94*54

2021-08-14T00:54:36.150Z,1628902476.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.459999 m, bearing: 258.522442 deg, deltaT: 4.452377 s, approachRate: -0.768129 m/s, LOS rate: 0.077175 deg/s, posRepo size: 4
2021-08-14T00:54:36.156Z,1628902476.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.459999 m,
      bearing: 258.522442 deg,
      approachRate: -0.768129 m/s,
      LOS rate: 0.077175 deg/s,
      cmd update: 0.231526 deg/s,
      cmd heading: 248.889437 deg,
      new cmd heading: 248.687650 deg.

2021-08-14T00:54:38.531Z,1628902478.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:54:38.949Z,1628902478.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:54:38.949Z,1628902478.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:54:38.949Z,1628902478.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:54:38.950Z,1628902478.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:54:39.321Z,1628902479.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,00588,185,80,80,7A,FF
2021-08-14T00:54:39.321Z,1628902479.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:54:39.322Z,1628902479.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:54:39.323Z,1628902479.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:54:39.728Z,1628902479.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:54:40.121Z,1628902480.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,00553,184,80,80,7C,FF
2021-08-14T00:54:40.122Z,1628902480.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:54:40.573Z,1628902480.573 [Micromodem](INFO): Nmea in: $SNTTA,0.040777,,,,005440.36*43

2021-08-14T00:54:40.594Z,1628902480.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.279999 m, bearing: 258.414852 deg, deltaT: 4.452137 s, approachRate: -0.714264 m/s, LOS rate: -0.024166 deg/s, posRepo size: 4
2021-08-14T00:54:40.596Z,1628902480.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.279999 m,
      bearing: 258.414852 deg,
      approachRate: -0.714264 m/s,
      LOS rate: -0.024166 deg/s,
      cmd update: -0.072497 deg/s,
      cmd heading: 249.921166 deg,
      new cmd heading: 250.018677 deg.

2021-08-14T00:54:43.035Z,1628902483.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:54:43.353Z,1628902483.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:54:43.354Z,1628902483.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:54:43.354Z,1628902483.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:54:43.355Z,1628902483.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:54:43.776Z,1628902483.776 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,00553,184,80,80,7C,FF
2021-08-14T00:54:43.777Z,1628902483.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:54:43.777Z,1628902483.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:54:43.784Z,1628902483.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:54:44.168Z,1628902484.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:54:44.571Z,1628902484.571 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,0051B,184,80,80,72,FF
2021-08-14T00:54:44.572Z,1628902484.572 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:54:44.993Z,1628902484.993 [Micromodem](INFO): Nmea in: $SNTTA,0.439510,0.439629,,,005444.82*5C

2021-08-14T00:54:45.055Z,1628902485.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.920002 m, bearing: 257.296368 deg, deltaT: 4.415780 s, approachRate: -0.760907 m/s, LOS rate: -0.253293 deg/s, posRepo size: 4
2021-08-14T00:54:45.061Z,1628902485.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.920002 m,
      bearing: 257.296368 deg,
      approachRate: -0.760907 m/s,
      LOS rate: -0.253293 deg/s,
      cmd update: -0.759878 deg/s,
      cmd heading: 249.601035 deg,
      new cmd heading: 249.567177 deg.

2021-08-14T00:54:47.438Z,1628902487.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:54:47.836Z,1628902487.836 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:54:47.836Z,1628902487.836 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:54:47.837Z,1628902487.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:54:47.837Z,1628902487.837 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:54:48.210Z,1628902488.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,0051B,184,80,80,72,FF
2021-08-14T00:54:48.210Z,1628902488.210 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:54:48.210Z,1628902488.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:54:48.211Z,1628902488.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:54:48.629Z,1628902488.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:54:49.029Z,1628902489.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,004EC,187,80,80,5F,FF
2021-08-14T00:54:49.030Z,1628902489.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:54:49.473Z,1628902489.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005449.25*55

2021-08-14T00:54:49.496Z,1628902489.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.099998 m, bearing: 257.869503 deg, deltaT: 4.545896 s, approachRate: -0.620341 m/s, LOS rate: 0.126077 deg/s, posRepo size: 4
2021-08-14T00:54:49.497Z,1628902489.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.10 m.
2021-08-14T00:54:49.499Z,1628902489.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.099998 m,
      bearing: 257.869503 deg,
      approachRate: -0.620341 m/s,
      LOS rate: 0.126077 deg/s,
      cmd update: 0.378232 deg/s,
      cmd heading: 246.146759 deg,
      new cmd heading: 245.871372 deg.

2021-08-14T00:54:49.878Z,1628902489.878 [PowerOnly](INFO): Powering up loadControl
2021-08-14T00:54:49.930Z,1628902489.930 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T00:54:49.930Z,1628902489.930 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T00:54:49.931Z,1628902489.931 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T00:54:49.931Z,1628902489.931 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T00:54:49.931Z,1628902489.931 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T00:54:49.931Z,1628902489.931 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T00:54:50.281Z,1628902490.281 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T00:54:50.282Z,1628902490.282 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T00:54:50.282Z,1628902490.282 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T00:54:50.282Z,1628902490.282 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T00:54:51.879Z,1628902491.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:54:52.249Z,1628902492.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:54:52.249Z,1628902492.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:54:52.249Z,1628902492.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:54:52.250Z,1628902492.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:54:52.657Z,1628902492.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,004EC,187,80,80,5F,FF
2021-08-14T00:54:52.657Z,1628902492.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:54:52.657Z,1628902492.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:54:52.659Z,1628902492.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:54:53.061Z,1628902493.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:54:53.467Z,1628902493.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,004B1,186,80,80,66,FF
2021-08-14T00:54:53.467Z,1628902493.467 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:54:53.488Z,1628902493.488 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:54:53.893Z,1628902493.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005453.70*5E

2021-08-14T00:54:53.939Z,1628902493.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.559998 m, bearing: 257.522365 deg, deltaT: 4.351920 s, approachRate: -0.813434 m/s, LOS rate: -0.079767 deg/s, posRepo size: 4
2021-08-14T00:54:53.939Z,1628902493.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.56 m.
2021-08-14T00:54:53.946Z,1628902493.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 257.522365 deg,
      approachRate: -0.813434 m/s,
      LOS rate: -0.079767 deg/s,
      cmd update: -0.239300 deg/s,
      cmd heading: 247.792522 deg,
      new cmd heading: 247.964372 deg.

2021-08-14T00:54:56.303Z,1628902496.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:54:56.701Z,1628902496.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:54:56.701Z,1628902496.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:54:56.701Z,1628902496.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:54:56.702Z,1628902496.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:54:57.181Z,1628902497.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,004B1,186,80,80,66,FF
2021-08-14T00:54:57.181Z,1628902497.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:54:57.181Z,1628902497.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:54:57.183Z,1628902497.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:54:57.573Z,1628902497.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:54:57.985Z,1628902497.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,0047E,186,80,80,69,FF
2021-08-14T00:54:57.985Z,1628902497.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:54:58.055Z,1628902498.055 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:54:58.422Z,1628902498.422 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005458.22*52

2021-08-14T00:54:58.444Z,1628902498.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.500000 m, bearing: 257.759018 deg, deltaT: 4.571242 s, approachRate: -0.669402 m/s, LOS rate: 0.051770 deg/s, posRepo size: 4
2021-08-14T00:54:58.445Z,1628902498.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.50 m.
2021-08-14T00:54:58.447Z,1628902498.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.500000 m,
      bearing: 257.759018 deg,
      approachRate: -0.669402 m/s,
      LOS rate: 0.051770 deg/s,
      cmd update: 0.155309 deg/s,
      cmd heading: 246.700507 deg,
      new cmd heading: 246.605790 deg.

2021-08-14T00:55:00.921Z,1628902500.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:55:01.210Z,1628902501.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:55:01.210Z,1628902501.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:55:01.210Z,1628902501.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:55:01.211Z,1628902501.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:55:01.610Z,1628902501.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,0047E,186,80,80,69,FF
2021-08-14T00:55:01.610Z,1628902501.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:55:01.610Z,1628902501.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:55:01.611Z,1628902501.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:55:02.017Z,1628902502.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:55:02.421Z,1628902502.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00456,183,80,80,65,FF
2021-08-14T00:55:02.423Z,1628902502.423 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:55:02.447Z,1628902502.447 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:55:02.889Z,1628902502.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005502.65*5F

2021-08-14T00:55:02.958Z,1628902502.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.099998 m, bearing: 251.974421 deg, deltaT: 4.387200 s, approachRate: -0.547046 m/s, LOS rate: -1.318517 deg/s, posRepo size: 4
2021-08-14T00:55:02.958Z,1628902502.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.10 m.
2021-08-14T00:55:02.961Z,1628902502.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.099998 m,
      bearing: 251.974421 deg,
      approachRate: -0.547046 m/s,
      LOS rate: -1.318517 deg/s,
      cmd update: -3.955550 deg/s,
      cmd heading: 247.383158 deg,
      new cmd heading: 247.463033 deg.

2021-08-14T00:55:05.309Z,1628902505.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:55:05.661Z,1628902505.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:55:05.661Z,1628902505.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:55:05.661Z,1628902505.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:55:05.662Z,1628902505.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:55:06.066Z,1628902506.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00456,183,80,80,65,FF
2021-08-14T00:55:06.066Z,1628902506.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:55:06.066Z,1628902506.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:55:06.067Z,1628902506.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:55:06.461Z,1628902506.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:55:06.885Z,1628902506.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,0041F,187,80,80,A5,FF
2021-08-14T00:55:06.886Z,1628902506.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:55:06.979Z,1628902506.979 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:55:07.305Z,1628902507.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005507.11*59

2021-08-14T00:55:07.342Z,1628902507.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 259.613715 deg, deltaT: 4.532377 s, approachRate: -0.728095 m/s, LOS rate: 1.685494 deg/s, posRepo size: 4
2021-08-14T00:55:07.342Z,1628902507.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.80 m.
2021-08-14T00:55:07.345Z,1628902507.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.799997 m,
      bearing: 259.613715 deg,
      approachRate: -0.728095 m/s,
      LOS rate: 1.685494 deg/s,
      cmd update: 5.056481 deg/s,
      cmd heading: 229.455296 deg,
      new cmd heading: 228.007588 deg.

2021-08-14T00:55:09.707Z,1628902509.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:55:10.121Z,1628902510.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:55:10.121Z,1628902510.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:55:10.121Z,1628902510.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:55:10.122Z,1628902510.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:55:10.497Z,1628902510.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,0041F,187,80,80,A5,FF
2021-08-14T00:55:10.497Z,1628902510.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:55:10.497Z,1628902510.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:55:10.499Z,1628902510.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:55:10.941Z,1628902510.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:55:11.305Z,1628902511.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,003F2,186,80,80,84,FF
2021-08-14T00:55:11.305Z,1628902511.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:55:11.367Z,1628902511.367 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:55:11.749Z,1628902511.749 [Micromodem](INFO): Nmea in: $SNTTA,0.032540,,,,005511.54*41

2021-08-14T00:55:11.819Z,1628902511.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 264.488502 deg, deltaT: 4.392439 s, approachRate: -0.614693 m/s, LOS rate: 1.109813 deg/s, posRepo size: 4
2021-08-14T00:55:11.824Z,1628902511.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.10 m.
2021-08-14T00:55:11.824Z,1628902511.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 23.10 m.
2021-08-14T00:55:11.825Z,1628902511.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T00:55:11.826Z,1628902511.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.099997 m,
      bearing: 264.488502 deg,
      approachRate: -0.614693 m/s,
      LOS rate: 1.109813 deg/s,
      cmd update: 3.329440 deg/s,
      cmd heading: 251.617090 deg,
      new cmd heading: 253.945680 deg.

2021-08-14T00:55:14.174Z,1628902514.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:55:14.541Z,1628902514.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:55:14.541Z,1628902514.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:55:14.541Z,1628902514.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:55:14.542Z,1628902514.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:55:14.954Z,1628902514.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,003F2,186,80,80,84,FF
2021-08-14T00:55:14.954Z,1628902514.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:55:14.954Z,1628902514.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:55:14.955Z,1628902514.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:55:15.406Z,1628902515.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:55:16.202Z,1628902516.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005515.99*5A

2021-08-14T00:55:17.013Z,1628902517.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,0405B,187,80,80,8B,FF
2021-08-14T00:55:17.013Z,1628902517.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:55:17.085Z,1628902517.085 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:55:17.471Z,1628902517.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 951.000000 m, bearing: 260.914538 deg, deltaT: 5.713769 s, approachRate: 162.397186 m/s, LOS rate: -0.625500 deg/s, posRepo size: 4
2021-08-14T00:55:17.474Z,1628902517.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 951.000000 m,
      bearing: 260.914538 deg,
      approachRate: 162.397186 m/s,
      LOS rate: -0.625500 deg/s,
      cmd update: -1.876501 deg/s,
      cmd heading: 270.673387 deg,
      new cmd heading: 271.969368 deg.

2021-08-14T00:55:17.873Z,1628902517.873 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T00:55:17.873Z,1628902517.873 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T00:55:17.873Z,1628902517.873 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T00:55:17.874Z,1628902517.874 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T00:55:17.874Z,1628902517.874 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T00:55:17.874Z,1628902517.874 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T00:55:18.249Z,1628902518.249 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T00:55:18.249Z,1628902518.249 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T00:55:18.250Z,1628902518.250 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T00:55:18.250Z,1628902518.250 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T00:55:19.872Z,1628902519.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:55:20.251Z,1628902520.251 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:55:20.251Z,1628902520.251 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:55:20.251Z,1628902520.251 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:55:20.252Z,1628902520.252 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:55:20.645Z,1628902520.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F50,000,0405B,187,80,80,8B,FF
2021-08-14T00:55:20.645Z,1628902520.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:55:20.645Z,1628902520.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:55:20.647Z,1628902520.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:55:21.072Z,1628902521.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:55:21.453Z,1628902521.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,00384,186,80,80,7D,FF
2021-08-14T00:55:21.454Z,1628902521.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:55:21.902Z,1628902521.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005521.68*53

2021-08-14T00:55:21.928Z,1628902521.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.499996 m, bearing: 261.099062 deg, deltaT: 4.414551 s, approachRate: -211.686310 m/s, LOS rate: 0.041799 deg/s, posRepo size: 4
2021-08-14T00:55:21.930Z,1628902521.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.499996 m,
      bearing: 261.099062 deg,
      approachRate: -211.686310 m/s,
      LOS rate: 0.041799 deg/s,
      cmd update: 0.125397 deg/s,
      cmd heading: 262.434588 deg,
      new cmd heading: 261.580491 deg.

2021-08-14T00:55:22.296Z,1628902522.296 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T00:55:22.296Z,1628902522.296 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T00:55:22.296Z,1628902522.296 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T00:55:22.297Z,1628902522.297 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T00:55:22.297Z,1628902522.297 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T00:55:22.297Z,1628902522.297 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T00:55:22.716Z,1628902522.716 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T00:55:22.716Z,1628902522.716 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T00:55:22.716Z,1628902522.716 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T00:55:22.716Z,1628902522.716 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T00:55:24.327Z,1628902524.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:55:24.685Z,1628902524.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:55:24.685Z,1628902524.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:55:24.685Z,1628902524.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:55:24.686Z,1628902524.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:55:25.103Z,1628902525.103 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,00384,186,80,80,7D,FF
2021-08-14T00:55:25.103Z,1628902525.103 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:55:25.103Z,1628902525.103 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:55:25.105Z,1628902525.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:55:25.517Z,1628902525.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:55:25.911Z,1628902525.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F0,000,00356,186,80,80,B5,FF
2021-08-14T00:55:25.911Z,1628902525.911 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:55:25.962Z,1628902525.962 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:55:26.329Z,1628902526.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005526.15*5E

2021-08-14T00:55:26.366Z,1628902526.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.739999 m, bearing: 259.819768 deg, deltaT: 4.462116 s, approachRate: -0.618540 m/s, LOS rate: -0.286701 deg/s, posRepo size: 4
2021-08-14T00:55:26.369Z,1628902526.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 259.819768 deg,
      approachRate: -0.618540 m/s,
      LOS rate: -0.286701 deg/s,
      cmd update: -0.860104 deg/s,
      cmd heading: 262.997094 deg,
      new cmd heading: 263.048048 deg.

2021-08-14T00:55:28.749Z,1628902528.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:55:29.149Z,1628902529.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:55:29.149Z,1628902529.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:55:29.149Z,1628902529.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:55:29.150Z,1628902529.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:55:29.537Z,1628902529.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F0,000,00356,186,80,80,B5,FF
2021-08-14T00:55:29.537Z,1628902529.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:55:29.537Z,1628902529.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:55:29.539Z,1628902529.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:55:29.947Z,1628902529.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:55:30.346Z,1628902530.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,00328,186,80,80,A7,FF
2021-08-14T00:55:30.346Z,1628902530.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:55:30.374Z,1628902530.374 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:55:30.810Z,1628902530.810 [Micromodem](INFO): Nmea in: $SNTTA,0.030495,,,,005530.58*45

2021-08-14T00:55:30.859Z,1628902530.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.980000 m, bearing: 257.081763 deg, deltaT: 4.412590 s, approachRate: -0.625483 m/s, LOS rate: -0.620498 deg/s, posRepo size: 4
2021-08-14T00:55:30.901Z,1628902530.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.980000 m,
      bearing: 257.081763 deg,
      approachRate: -0.625483 m/s,
      LOS rate: -0.620498 deg/s,
      cmd update: -1.861495 deg/s,
      cmd heading: 259.203922 deg,
      new cmd heading: 258.786310 deg.

2021-08-14T00:55:32.883Z,1628902532.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:55:33.182Z,1628902533.182 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:55:33.182Z,1628902533.182 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:55:33.182Z,1628902533.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:55:33.183Z,1628902533.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:55:33.577Z,1628902533.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,00328,186,80,80,A7,FF
2021-08-14T00:55:33.577Z,1628902533.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:55:33.577Z,1628902533.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:55:33.579Z,1628902533.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:55:33.994Z,1628902533.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:55:34.378Z,1628902534.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,0030F,186,80,80,B1,FF
2021-08-14T00:55:34.379Z,1628902534.379 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:55:34.434Z,1628902534.434 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:55:34.885Z,1628902534.885 [Micromodem](INFO): Nmea in: $SNTTA,0.009030,,,,005534.62*49

2021-08-14T00:55:34.952Z,1628902534.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.479997 m, bearing: 253.672461 deg, deltaT: 4.059807 s, approachRate: -0.369476 m/s, LOS rate: -0.839770 deg/s, posRepo size: 4
2021-08-14T00:55:34.954Z,1628902534.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 253.672461 deg,
      approachRate: -0.369476 m/s,
      LOS rate: -0.839770 deg/s,
      cmd update: -2.519309 deg/s,
      cmd heading: 251.642162 deg,
      new cmd heading: 250.672312 deg.

2021-08-14T00:55:37.307Z,1628902537.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:55:37.617Z,1628902537.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:55:37.617Z,1628902537.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:55:37.617Z,1628902537.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:55:37.618Z,1628902537.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:55:38.029Z,1628902538.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,0030F,186,80,80,B1,FF
2021-08-14T00:55:38.029Z,1628902538.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:55:38.030Z,1628902538.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:55:38.031Z,1628902538.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:55:38.440Z,1628902538.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:55:38.840Z,1628902538.840 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,002D4,183,80,80,BA,FF
2021-08-14T00:55:38.842Z,1628902538.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:55:38.955Z,1628902538.955 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:55:39.276Z,1628902539.276 [Micromodem](INFO): Nmea in: $SNTTA,0.021967,,,,005539.07*46

2021-08-14T00:55:39.362Z,1628902539.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 252.530863 deg, deltaT: 4.520280 s, approachRate: -0.783136 m/s, LOS rate: -0.252550 deg/s, posRepo size: 4
2021-08-14T00:55:39.369Z,1628902539.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 252.530863 deg,
      approachRate: -0.783136 m/s,
      LOS rate: -0.252550 deg/s,
      cmd update: -0.757651 deg/s,
      cmd heading: 240.263149 deg,
      new cmd heading: 239.220475 deg.

2021-08-14T00:55:41.678Z,1628902541.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:55:42.057Z,1628902542.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:55:42.057Z,1628902542.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:55:42.057Z,1628902542.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:55:42.058Z,1628902542.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:55:42.466Z,1628902542.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,002D4,183,80,80,BA,FF
2021-08-14T00:55:42.466Z,1628902542.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:55:42.467Z,1628902542.467 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:55:42.469Z,1628902542.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:55:42.907Z,1628902542.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:55:43.273Z,1628902543.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BC,000,002B7,187,80,80,84,FF
2021-08-14T00:55:43.274Z,1628902543.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:55:43.294Z,1628902543.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:55:43.705Z,1628902543.705 [Micromodem](INFO): Nmea in: $SNTTA,0.038062,,,,005543.51*4C

2021-08-14T00:55:43.764Z,1628902543.764 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T00:55:43.765Z,1628902543.765 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T00:55:43.777Z,1628902543.777 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T00:55:43.777Z,1628902543.777 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T00:55:43.782Z,1628902543.782 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T00:55:43.792Z,1628902543.792 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 
2021-08-14T00:55:43.793Z,1628902543.793 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T00:55:43.793Z,1628902543.793 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T00:55:43.793Z,1628902543.793 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T00:55:43.800Z,1628902543.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.199998 m, bearing: 218.691005 deg, deltaT: 4.339668 s, approachRate: -0.400953 m/s, LOS rate: -7.797799 deg/s, posRepo size: 4
2021-08-14T00:55:43.802Z,1628902543.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 218.691005 deg,
      approachRate: -0.400953 m/s,
      LOS rate: -7.797799 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 236.972186 deg,
      new cmd heading: 236.589710 deg.

2021-08-14T00:55:44.121Z,1628902544.121 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T005544: (41.552319, -70.708603)
2021-08-14T00:55:44.121Z,1628902544.121 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T00:55:44.121Z,1628902544.121 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T00:55:44.121Z,1628902544.121 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T00:55:44.121Z,1628902544.121 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T00:55:44.121Z,1628902544.121 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T00:55:44.121Z,1628902544.121 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T00:55:44.122Z,1628902544.122 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T00:55:44.122Z,1628902544.122 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T00:55:46.145Z,1628902546.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:55:46.505Z,1628902546.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:55:46.506Z,1628902546.506 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:55:46.506Z,1628902546.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:55:46.507Z,1628902546.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:55:46.941Z,1628902546.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BC,000,002B7,187,80,80,84,FF
2021-08-14T00:55:46.941Z,1628902546.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:55:46.941Z,1628902546.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:55:46.943Z,1628902546.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:55:47.317Z,1628902547.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:55:47.728Z,1628902547.728 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,002B9,187,80,80,A0,FF
2021-08-14T00:55:47.729Z,1628902547.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:55:47.761Z,1628902547.761 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:55:48.131Z,1628902548.131 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005547.98*5C

2021-08-14T00:55:48.181Z,1628902548.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.319999 m, bearing: 244.123774 deg, deltaT: 4.467771 s, approachRate: 0.026859 m/s, LOS rate: 5.692496 deg/s, posRepo size: 4
2021-08-14T00:55:48.183Z,1628902548.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 244.123774 deg,
      approachRate: 0.026859 m/s,
      LOS rate: 5.692496 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 183.483264 deg,
      new cmd heading: 178.302587 deg.

2021-08-14T00:55:50.574Z,1628902550.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:55:50.960Z,1628902550.960 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:55:50.960Z,1628902550.960 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:55:50.960Z,1628902550.960 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:55:50.961Z,1628902550.961 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:55:51.349Z,1628902551.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,002B9,187,80,80,A0,FF
2021-08-14T00:55:51.349Z,1628902551.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:55:51.349Z,1628902551.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:55:51.351Z,1628902551.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:55:51.768Z,1628902551.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:55:52.161Z,1628902552.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,00302,186,80,80,84,FF
2021-08-14T00:55:52.161Z,1628902552.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:55:52.240Z,1628902552.240 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:55:52.597Z,1628902552.597 [Micromodem](INFO): Nmea in: $SNTTA,0.007770,,,,005552.39*4A

2021-08-14T00:55:52.643Z,1628902552.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 233.125039 deg, deltaT: 4.478337 s, approachRate: 0.978042 m/s, LOS rate: -2.455987 deg/s, posRepo size: 4
2021-08-14T00:55:52.645Z,1628902552.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.699999 m,
      bearing: 233.125039 deg,
      approachRate: 0.978042 m/s,
      LOS rate: -2.455987 deg/s,
      cmd update: -7.367960 deg/s,
      cmd heading: 237.248929 deg,
      new cmd heading: 242.211193 deg.

2021-08-14T00:55:55.046Z,1628902555.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:55:55.393Z,1628902555.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:55:55.394Z,1628902555.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:55:55.394Z,1628902555.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:55:55.395Z,1628902555.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:55:55.808Z,1628902555.808 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,00302,186,80,80,84,FF
2021-08-14T00:55:55.808Z,1628902555.808 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:55:55.808Z,1628902555.808 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:55:55.810Z,1628902555.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:55:56.201Z,1628902556.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:55:56.609Z,1628902556.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00315,185,80,80,A0,FF
2021-08-14T00:55:56.610Z,1628902556.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:55:56.659Z,1628902556.659 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:55:57.025Z,1628902557.025 [Micromodem](INFO): Nmea in: $SNTTA,0.396436,0.397979,,,005556.85*57

2021-08-14T00:55:57.096Z,1628902557.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.839999 m, bearing: 209.029620 deg, deltaT: 4.418238 s, approachRate: 0.258021 m/s, LOS rate: -5.453626 deg/s, posRepo size: 4
2021-08-14T00:55:57.098Z,1628902557.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.839999 m,
      bearing: 209.029620 deg,
      approachRate: 0.258021 m/s,
      LOS rate: -5.453626 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 204.664370 deg,
      new cmd heading: 201.388855 deg.

2021-08-14T00:55:59.454Z,1628902559.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:55:59.839Z,1628902559.839 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:55:59.839Z,1628902559.839 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:55:59.839Z,1628902559.839 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:55:59.840Z,1628902559.840 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:56:00.233Z,1628902560.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00315,185,80,80,A0,FF
2021-08-14T00:56:00.233Z,1628902560.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:56:00.233Z,1628902560.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:56:00.235Z,1628902560.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:56:00.659Z,1628902560.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:56:01.046Z,1628902561.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,0033C,187,80,80,4A,FF
2021-08-14T00:56:01.046Z,1628902561.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:56:01.135Z,1628902561.135 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:56:01.490Z,1628902561.490 [Micromodem](INFO): Nmea in: $SNTTA,0.028353,,,,005601.28*47

2021-08-14T00:56:01.511Z,1628902561.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.179997 m, bearing: 208.884574 deg, deltaT: 4.476479 s, approachRate: 0.522732 m/s, LOS rate: -0.032402 deg/s, posRepo size: 4
2021-08-14T00:56:01.513Z,1628902561.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.179997 m,
      bearing: 208.884574 deg,
      approachRate: 0.522732 m/s,
      LOS rate: -0.032402 deg/s,
      cmd update: -0.097205 deg/s,
      cmd heading: 150.947161 deg,
      new cmd heading: 146.350249 deg.

2021-08-14T00:56:03.912Z,1628902563.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:56:04.281Z,1628902564.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:56:04.281Z,1628902564.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:56:04.281Z,1628902564.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:56:04.282Z,1628902564.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:56:04.693Z,1628902564.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,0033C,187,80,80,4A,FF
2021-08-14T00:56:04.693Z,1628902564.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:56:04.693Z,1628902564.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:56:04.694Z,1628902564.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:56:05.092Z,1628902565.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:56:05.495Z,1628902565.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,354,000,0035F,189,80,80,60,FF
2021-08-14T00:56:05.496Z,1628902565.496 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:56:05.515Z,1628902565.515 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:56:05.917Z,1628902565.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005605.73*5C

2021-08-14T00:56:05.943Z,1628902565.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.280000 m, bearing: 161.019866 deg, deltaT: 4.380525 s, approachRate: 0.479395 m/s, LOS rate: -10.926706 deg/s, posRepo size: 4
2021-08-14T00:56:05.943Z,1628902565.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.28 m. Rolling out.
2021-08-14T00:56:05.970Z,1628902565.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T00:56:08.340Z,1628902568.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:56:08.737Z,1628902568.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:56:08.737Z,1628902568.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:56:08.738Z,1628902568.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:56:08.739Z,1628902568.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:56:09.129Z,1628902569.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
354,000,0035F,189,80,80,60,FF
2021-08-14T00:56:09.129Z,1628902569.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:56:09.129Z,1628902569.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:56:09.131Z,1628902569.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:56:09.551Z,1628902569.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:56:09.937Z,1628902569.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,00391,187,80,80,37,FF
2021-08-14T00:56:09.938Z,1628902569.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:56:09.999Z,1628902569.999 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:56:10.374Z,1628902570.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005610.17*5A

2021-08-14T00:56:10.400Z,1628902570.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.280001 m, bearing: 196.266551 deg, deltaT: 4.483016 s, approachRate: 0.669193 m/s, LOS rate: 7.862271 deg/s, posRepo size: 4
2021-08-14T00:56:12.892Z,1628902572.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:56:13.261Z,1628902573.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:56:13.261Z,1628902573.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:56:13.261Z,1628902573.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:56:13.262Z,1628902573.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:56:13.585Z,1628902573.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,00391,187,80,80,37,FF
2021-08-14T00:56:13.585Z,1628902573.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:56:13.585Z,1628902573.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:56:13.587Z,1628902573.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:56:13.988Z,1628902573.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:56:14.386Z,1628902574.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,003B7,189,80,80,96,FF
2021-08-14T00:56:14.386Z,1628902574.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:56:14.437Z,1628902574.437 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:56:14.853Z,1628902574.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005614.63*5D

2021-08-14T00:56:14.927Z,1628902574.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 140.604881 deg, deltaT: 4.438272 s, approachRate: 0.513714 m/s, LOS rate: -12.541293 deg/s, posRepo size: 4
2021-08-14T00:56:17.263Z,1628902577.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:56:17.621Z,1628902577.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:56:17.621Z,1628902577.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:56:17.621Z,1628902577.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:56:17.622Z,1628902577.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:56:18.033Z,1628902578.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,003B7,189,80,80,96,FF
2021-08-14T00:56:18.033Z,1628902578.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:56:18.033Z,1628902578.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:56:18.035Z,1628902578.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:56:18.433Z,1628902578.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:56:18.853Z,1628902578.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,352,000,003CB,189,80,80,8F,FF
2021-08-14T00:56:18.854Z,1628902578.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:56:18.951Z,1628902578.951 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:56:19.257Z,1628902579.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005619.07*52

2021-08-14T00:56:19.341Z,1628902579.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 115.278744 deg, deltaT: 4.513679 s, approachRate: 0.265858 m/s, LOS rate: -5.610974 deg/s, posRepo size: 4
2021-08-14T00:56:21.664Z,1628902581.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:56:22.069Z,1628902582.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:56:22.069Z,1628902582.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:56:22.069Z,1628902582.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:56:22.070Z,1628902582.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:56:22.461Z,1628902582.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
352,000,003CB,189,80,80,8F,FF
2021-08-14T00:56:22.461Z,1628902582.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:56:22.461Z,1628902582.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:56:22.463Z,1628902582.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:56:22.910Z,1628902582.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:56:23.273Z,1628902583.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,003E3,188,80,80,B1,FF
2021-08-14T00:56:23.273Z,1628902583.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:56:23.294Z,1628902583.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:56:23.709Z,1628902583.709 [Micromodem](INFO): Nmea in: $SNTTA,0.045806,,,,005623.50*48

2021-08-14T00:56:23.795Z,1628902583.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 114.837842 deg, deltaT: 4.342980 s, approachRate: 0.331570 m/s, LOS rate: -0.101521 deg/s, posRepo size: 4
2021-08-14T00:56:24.501Z,1628902584.501 [PowerOnly](INFO): Powering down loadControl
2021-08-14T00:56:26.149Z,1628902586.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:56:26.497Z,1628902586.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:56:26.497Z,1628902586.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:56:26.497Z,1628902586.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:56:26.498Z,1628902586.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:56:26.949Z,1628902586.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,003E3,188,80,80,B1,FF
2021-08-14T00:56:26.949Z,1628902586.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:56:26.949Z,1628902586.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:56:26.951Z,1628902586.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:56:27.325Z,1628902587.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:56:28.135Z,1628902588.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C8,000,003E3,188,80,80,B1,FF
2021-08-14T00:56:28.136Z,1628902588.136 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:56:28.154Z,1628902588.154 [Micromodem](INFO): Nmea in: $SNTTA,0.021913,,,,005627.99*4E

2021-08-14T00:56:28.223Z,1628902588.223 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:56:28.572Z,1628902588.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 110.558168 deg, deltaT: 4.929477 s, approachRate: 0.000000 m/s, LOS rate: -0.868180 deg/s, posRepo size: 4
2021-08-14T00:56:31.016Z,1628902591.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:56:31.353Z,1628902591.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:56:31.354Z,1628902591.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:56:31.354Z,1628902591.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:56:31.355Z,1628902591.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:56:31.777Z,1628902591.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C8,000,003E3,188,80,80,B1,FF
2021-08-14T00:56:31.778Z,1628902591.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:56:31.778Z,1628902591.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:56:31.787Z,1628902591.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:56:32.195Z,1628902592.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:56:32.610Z,1628902592.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D3,000,00423,188,80,80,A1,FF
2021-08-14T00:56:32.611Z,1628902592.611 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:56:32.661Z,1628902592.661 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:56:33.037Z,1628902593.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005632.83*57

2021-08-14T00:56:33.103Z,1628902593.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 108.310278 deg, deltaT: 4.438259 s, approachRate: 0.865204 m/s, LOS rate: -0.506480 deg/s, posRepo size: 4
2021-08-14T00:56:35.447Z,1628902595.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:56:35.854Z,1628902595.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:56:35.854Z,1628902595.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:56:35.854Z,1628902595.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:56:35.855Z,1628902595.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:56:36.221Z,1628902596.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D3,000,00423,188,80,80,A1,FF
2021-08-14T00:56:36.221Z,1628902596.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:56:36.221Z,1628902596.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:56:36.223Z,1628902596.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:56:36.635Z,1628902596.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:56:37.033Z,1628902597.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,377,000,00445,189,80,80,85,FF
2021-08-14T00:56:37.033Z,1628902597.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:56:37.037Z,1628902597.037 [Micromodem](INFO): Nmea in: $SNTTA,0.259726,0.259982,,,005637.26*5D

2021-08-14T00:56:37.144Z,1628902597.144 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:56:37.497Z,1628902597.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.079998 m, bearing: 99.202876 deg, deltaT: 4.482823 s, approachRate: 0.455070 m/s, LOS rate: -2.031622 deg/s, posRepo size: 4
2021-08-14T00:56:39.942Z,1628902599.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:56:40.265Z,1628902600.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:56:40.265Z,1628902600.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:56:40.265Z,1628902600.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:56:40.266Z,1628902600.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:56:40.678Z,1628902600.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
377,000,00445,189,80,80,85,FF
2021-08-14T00:56:40.678Z,1628902600.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:56:40.678Z,1628902600.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:56:40.681Z,1628902600.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:56:41.077Z,1628902601.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:56:41.477Z,1628902601.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,387,000,00471,189,80,80,BA,FF
2021-08-14T00:56:41.477Z,1628902601.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:56:41.538Z,1628902601.538 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:56:41.913Z,1628902601.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005641.72*5D

2021-08-14T00:56:41.955Z,1628902601.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.720001 m, bearing: 95.142684 deg, deltaT: 4.393873 s, approachRate: 0.600837 m/s, LOS rate: -0.924058 deg/s, posRepo size: 4
2021-08-14T00:56:44.368Z,1628902604.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:56:44.713Z,1628902604.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:56:44.713Z,1628902604.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:56:44.713Z,1628902604.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:56:44.714Z,1628902604.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:56:45.125Z,1628902605.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
387,000,00471,189,80,80,BA,FF
2021-08-14T00:56:45.125Z,1628902605.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:56:45.125Z,1628902605.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:56:45.127Z,1628902605.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:56:45.517Z,1628902605.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:56:45.921Z,1628902605.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,225,000,00496,189,80,80,74,FF
2021-08-14T00:56:45.922Z,1628902605.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:56:45.951Z,1628902605.951 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:56:46.370Z,1628902606.370 [Micromodem](INFO): Nmea in: $SNTTA,0.053559,,,,005646.17*48

2021-08-14T00:56:46.420Z,1628902606.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 115.523975 deg, deltaT: 4.413538 s, approachRate: 0.502997 m/s, LOS rate: 4.617903 deg/s, posRepo size: 4
2021-08-14T00:56:48.827Z,1628902608.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:56:49.149Z,1628902609.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:56:49.149Z,1628902609.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:56:49.149Z,1628902609.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:56:49.150Z,1628902609.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:56:49.557Z,1628902609.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
225,000,00496,189,80,80,74,FF
2021-08-14T00:56:49.557Z,1628902609.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:56:49.558Z,1628902609.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:56:49.559Z,1628902609.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:56:49.968Z,1628902609.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:56:50.803Z,1628902610.803 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005650.60*5E

2021-08-14T00:56:51.594Z,1628902611.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:56:53.193Z,1628902613.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,74,FF
2021-08-14T00:56:53.193Z,1628902613.193 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,74,FF
2021-08-14T00:56:53.193Z,1628902613.193 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T00:56:54.447Z,1628902614.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:56:54.869Z,1628902614.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:56:54.869Z,1628902614.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:56:54.870Z,1628902614.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:56:54.871Z,1628902614.871 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:56:55.222Z,1628902615.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,74,FF
2021-08-14T00:56:55.222Z,1628902615.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:56:55.222Z,1628902615.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:56:55.224Z,1628902615.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:56:55.624Z,1628902615.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:56:56.450Z,1628902616.450 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005656.27*5B

2021-08-14T00:56:56.989Z,1628902616.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:56:58.889Z,1628902618.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,08886,186,80,80,78,FF
2021-08-14T00:56:58.890Z,1628902618.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:56:58.984Z,1628902618.984 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:56:59.302Z,1628902619.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2059.500000 m, bearing: 158.487996 deg, deltaT: 13.032604 s, approachRate: 155.499237 m/s, LOS rate: 3.296657 deg/s, posRepo size: 4
2021-08-14T00:56:59.302Z,1628902619.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2059.50 m. Resuming terminal guidance.
2021-08-14T00:56:59.303Z,1628902619.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T00:56:59.690Z,1628902619.690 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T00:56:59.690Z,1628902619.690 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T00:56:59.690Z,1628902619.690 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T00:56:59.691Z,1628902619.691 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T00:56:59.691Z,1628902619.691 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T00:56:59.691Z,1628902619.691 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T00:57:00.109Z,1628902620.109 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T00:57:00.109Z,1628902620.109 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T00:57:00.109Z,1628902620.109 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T00:57:00.109Z,1628902620.109 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T00:57:01.715Z,1628902621.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:57:02.085Z,1628902622.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:57:02.085Z,1628902622.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:57:02.085Z,1628902622.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:57:02.086Z,1628902622.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:57:02.485Z,1628902622.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,08886,186,80,80,78,FF
2021-08-14T00:57:02.485Z,1628902622.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:57:02.485Z,1628902622.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:57:02.487Z,1628902622.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:57:02.953Z,1628902622.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:57:03.293Z,1628902623.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,00540,186,80,80,65,FF
2021-08-14T00:57:03.294Z,1628902623.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:57:03.296Z,1628902623.296 [Micromodem](INFO): Nmea in: 703,COPROC,0.20.0.39330*7A

2021-08-14T00:57:03.297Z,1628902623.297 [Micromodem](ERROR): Response from modem failed NMEA checksum: 703,COPROC,0.20.0.39330*7A
 expected 0
2021-08-14T00:57:03.723Z,1628902623.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 171.916722 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T00:57:03.724Z,1628902623.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 171.916722deg and heading rate command to 0 deg/s.
2021-08-14T00:57:06.166Z,1628902626.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:57:06.531Z,1628902626.531 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:57:06.531Z,1628902626.531 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:57:06.531Z,1628902626.531 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:57:06.532Z,1628902626.532 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:57:06.953Z,1628902626.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,00540,186,80,80,65,FF
2021-08-14T00:57:06.953Z,1628902626.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:57:06.953Z,1628902626.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:57:06.955Z,1628902626.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:57:07.345Z,1628902627.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:57:07.749Z,1628902627.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAD,000,00574,186,80,80,40,FF
2021-08-14T00:57:07.749Z,1628902627.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:57:08.165Z,1628902628.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005708.00*54

2021-08-14T00:57:08.191Z,1628902628.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.259998 m, bearing: 167.010884 deg, deltaT: 4.504240 s, approachRate: 0.692680 m/s, LOS rate: -1.089160 deg/s, posRepo size: 2
2021-08-14T00:57:08.193Z,1628902628.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.259998 m,
      bearing: 167.010884 deg,
      approachRate: 0.692680 m/s,
      LOS rate: -1.089160 deg/s,
      cmd update: -3.267480 deg/s,
      cmd heading: 171.916722 deg,
      new cmd heading: 171.916722 deg.

2021-08-14T00:57:10.597Z,1628902630.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:57:10.973Z,1628902630.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:57:10.973Z,1628902630.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:57:10.973Z,1628902630.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:57:10.974Z,1628902630.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:57:11.374Z,1628902631.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAD,000,00574,186,80,80,40,FF
2021-08-14T00:57:11.374Z,1628902631.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:57:11.374Z,1628902631.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:57:11.377Z,1628902631.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:57:11.804Z,1628902631.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:57:12.186Z,1628902632.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19B,000,005A0,186,80,80,6B,FF
2021-08-14T00:57:12.186Z,1628902632.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:57:12.629Z,1628902632.629 [Micromodem](INFO): Nmea in: $SNTTA,0.054559,,,,005712.42*4F

2021-08-14T00:57:12.645Z,1628902632.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.900002 m, bearing: 142.815130 deg, deltaT: 4.419366 s, approachRate: 0.597371 m/s, LOS rate: -5.474938 deg/s, posRepo size: 3
2021-08-14T00:57:12.647Z,1628902632.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.900002 m,
      bearing: 142.815130 deg,
      approachRate: 0.597371 m/s,
      LOS rate: -5.474938 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 157.476505 deg,
      new cmd heading: 156.124523 deg.

2021-08-14T00:57:15.062Z,1628902635.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:57:15.425Z,1628902635.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:57:15.425Z,1628902635.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:57:15.425Z,1628902635.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:57:15.426Z,1628902635.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:57:15.833Z,1628902635.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19B,000,005A0,186,80,80,6B,FF
2021-08-14T00:57:15.833Z,1628902635.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:57:15.833Z,1628902635.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:57:15.835Z,1628902635.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:57:16.233Z,1628902636.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:57:16.630Z,1628902636.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E3,000,005D1,186,80,80,79,FF
2021-08-14T00:57:16.630Z,1628902636.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:57:17.081Z,1628902637.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005716.88*5B

2021-08-14T00:57:17.155Z,1628902637.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 132.061585 deg, deltaT: 4.416049 s, approachRate: 0.665754 m/s, LOS rate: -2.435106 deg/s, posRepo size: 4
2021-08-14T00:57:17.161Z,1628902637.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.840004 m,
      bearing: 132.061585 deg,
      approachRate: 0.665754 m/s,
      LOS rate: -2.435106 deg/s,
      cmd update: -7.305317 deg/s,
      cmd heading: 104.435844 deg,
      new cmd heading: 98.394492 deg.

2021-08-14T00:57:19.479Z,1628902639.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:57:19.859Z,1628902639.859 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:57:19.860Z,1628902639.860 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:57:19.861Z,1628902639.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:57:19.863Z,1628902639.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:57:20.272Z,1628902640.272 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E3,000,005D1,186,80,80,79,FF
2021-08-14T00:57:20.272Z,1628902640.272 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:57:20.273Z,1628902640.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:57:20.274Z,1628902640.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:57:20.672Z,1628902640.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:57:21.077Z,1628902641.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,00603,187,80,80,35,FF
2021-08-14T00:57:21.077Z,1628902641.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:57:21.081Z,1628902641.081 [Micromodem](INFO): Nmea in: $SNTTA,0.193444,0.193431,,,005721.32*5C

2021-08-14T00:57:21.515Z,1628902641.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.840000 m, bearing: 134.183793 deg, deltaT: 4.520483 s, approachRate: 0.663645 m/s, LOS rate: 0.469465 deg/s, posRepo size: 4
2021-08-14T00:57:21.518Z,1628902641.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.840000 m,
      bearing: 134.183793 deg,
      approachRate: 0.663645 m/s,
      LOS rate: 0.469465 deg/s,
      cmd update: 1.408395 deg/s,
      cmd heading: 71.441132 deg,
      new cmd heading: 68.901578 deg.

2021-08-14T00:57:23.941Z,1628902643.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:57:24.306Z,1628902644.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:57:24.306Z,1628902644.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:57:24.306Z,1628902644.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:57:24.307Z,1628902644.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:57:24.705Z,1628902644.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,00603,187,80,80,35,FF
2021-08-14T00:57:24.705Z,1628902644.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:57:24.705Z,1628902644.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:57:24.707Z,1628902644.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:57:25.116Z,1628902645.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:57:25.517Z,1628902645.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37F,000,00622,189,80,80,9B,FF
2021-08-14T00:57:25.517Z,1628902645.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:57:25.945Z,1628902645.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005725.75*59

2021-08-14T00:57:25.987Z,1628902645.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.699997 m, bearing: 75.865992 deg, deltaT: 4.361980 s, approachRate: 0.426411 m/s, LOS rate: -13.369571 deg/s, posRepo size: 4
2021-08-14T00:57:25.987Z,1628902645.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.369571 deg/s. Setting heading cmd to target bearing of 75.865992deg and heading rate command to 0 deg/s.
2021-08-14T00:57:28.358Z,1628902648.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:57:28.755Z,1628902648.755 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:57:28.755Z,1628902648.755 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:57:28.756Z,1628902648.756 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:57:28.758Z,1628902648.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:57:29.157Z,1628902649.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37F,000,00622,189,80,80,9B,FF
2021-08-14T00:57:29.158Z,1628902649.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:57:29.158Z,1628902649.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:57:29.159Z,1628902649.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:57:29.557Z,1628902649.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:57:29.969Z,1628902649.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,291,000,00641,189,80,80,B9,FF
2021-08-14T00:57:29.969Z,1628902649.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:57:30.390Z,1628902650.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005730.20*5D

2021-08-14T00:57:30.435Z,1628902650.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.559998 m, bearing: 74.837891 deg, deltaT: 4.505479 s, approachRate: 0.412831 m/s, LOS rate: -0.228189 deg/s, posRepo size: 4
2021-08-14T00:57:30.437Z,1628902650.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.559998 m,
      bearing: 74.837891 deg,
      approachRate: 0.412831 m/s,
      LOS rate: -0.228189 deg/s,
      cmd update: -0.684567 deg/s,
      cmd heading: 75.865992 deg,
      new cmd heading: 75.865992 deg.

2021-08-14T00:57:32.902Z,1628902652.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:57:33.189Z,1628902653.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:57:33.189Z,1628902653.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:57:33.189Z,1628902653.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:57:33.190Z,1628902653.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:57:33.601Z,1628902653.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
291,000,00641,189,80,80,B9,FF
2021-08-14T00:57:33.601Z,1628902653.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:57:33.602Z,1628902653.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:57:33.603Z,1628902653.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:57:34.001Z,1628902654.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:57:34.441Z,1628902654.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,00653,186,80,80,87,FF
2021-08-14T00:57:34.441Z,1628902654.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:57:34.865Z,1628902654.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005734.64*59

2021-08-14T00:57:34.952Z,1628902654.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.640003 m, bearing: 71.090508 deg, deltaT: 4.418494 s, approachRate: 0.244428 m/s, LOS rate: -0.848113 deg/s, posRepo size: 4
2021-08-14T00:57:34.954Z,1628902654.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.640003 m,
      bearing: 71.090508 deg,
      approachRate: 0.244428 m/s,
      LOS rate: -0.848113 deg/s,
      cmd update: -2.544340 deg/s,
      cmd heading: 72.838499 deg,
      new cmd heading: 72.499979 deg.

2021-08-14T00:57:37.275Z,1628902657.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:57:37.641Z,1628902657.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:57:37.641Z,1628902657.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:57:37.641Z,1628902657.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:57:37.642Z,1628902657.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:57:38.045Z,1628902658.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,00653,186,80,80,87,FF
2021-08-14T00:57:38.045Z,1628902658.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:57:38.045Z,1628902658.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:57:38.047Z,1628902658.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:57:38.465Z,1628902658.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:57:38.888Z,1628902658.888 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D24,000,0065B,189,80,80,97,FF
2021-08-14T00:57:38.888Z,1628902658.888 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:57:39.273Z,1628902659.273 [Micromodem](INFO): Nmea in: $SNTTA,0.070914,0.348019,,,005739.09*53

2021-08-14T00:57:39.307Z,1628902659.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.120007 m, bearing: 112.914905 deg, deltaT: 4.525549 s, approachRate: 0.106065 m/s, LOS rate: 9.241839 deg/s, posRepo size: 4
2021-08-14T00:57:39.309Z,1628902659.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.120007 m,
      bearing: 112.914905 deg,
      approachRate: 0.106065 m/s,
      LOS rate: 9.241839 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 61.334643 deg,
      new cmd heading: 60.500965 deg.

2021-08-14T00:57:41.707Z,1628902661.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:57:42.081Z,1628902662.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:57:42.081Z,1628902662.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:57:42.081Z,1628902662.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:57:42.082Z,1628902662.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:57:42.494Z,1628902662.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D24,000,0065B,189,80,80,97,FF
2021-08-14T00:57:42.494Z,1628902662.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:57:42.495Z,1628902662.495 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:57:42.497Z,1628902662.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:57:42.929Z,1628902662.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:57:43.298Z,1628902663.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0065F,189,80,80,7F,FF
2021-08-14T00:57:43.299Z,1628902663.299 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:57:43.725Z,1628902663.725 [Micromodem](INFO): Nmea in: $SNTTA,0.051642,,,,005743.54*40

2021-08-14T00:57:43.791Z,1628902663.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.360008 m, bearing: 2.186371 deg, deltaT: 4.357660 s, approachRate: 0.055076 m/s, LOS rate: -25.410090 deg/s, posRepo size: 4
2021-08-14T00:57:43.797Z,1628902663.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -25.410090 deg/s. Setting heading cmd to target bearing of 2.186371deg and heading rate command to 0 deg/s.
2021-08-14T00:57:46.168Z,1628902666.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:57:46.526Z,1628902666.526 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:57:46.526Z,1628902666.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:57:46.526Z,1628902666.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:57:46.528Z,1628902666.528 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:57:46.941Z,1628902666.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0065F,189,80,80,7F,FF
2021-08-14T00:57:46.941Z,1628902666.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:57:46.941Z,1628902666.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:57:46.943Z,1628902666.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:57:47.343Z,1628902667.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:57:47.746Z,1628902667.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00657,189,80,80,85,FF
2021-08-14T00:57:47.746Z,1628902667.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:57:48.181Z,1628902668.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005747.99*5F

2021-08-14T00:57:48.236Z,1628902668.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.880005 m, bearing: 11.891090 deg, deltaT: 4.471174 s, approachRate: -0.107355 m/s, LOS rate: 2.170508 deg/s, posRepo size: 4
2021-08-14T00:57:48.238Z,1628902668.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.880005 m,
      bearing: 11.891090 deg,
      approachRate: -0.107355 m/s,
      LOS rate: 2.170508 deg/s,
      cmd update: 6.511525 deg/s,
      cmd heading: 2.186371 deg,
      new cmd heading: 2.186371 deg.

2021-08-14T00:57:50.602Z,1628902670.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:57:50.973Z,1628902670.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:57:50.973Z,1628902670.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:57:50.974Z,1628902670.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:57:50.974Z,1628902670.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:57:51.381Z,1628902671.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00657,189,80,80,85,FF
2021-08-14T00:57:51.381Z,1628902671.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:57:51.381Z,1628902671.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:57:51.383Z,1628902671.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:57:51.804Z,1628902671.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:57:52.181Z,1628902672.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B4,000,00661,185,80,80,6F,FF
2021-08-14T00:57:52.181Z,1628902672.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:57:52.605Z,1628902672.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005752.43*5C

2021-08-14T00:57:52.650Z,1628902672.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.480003 m, bearing: 77.464823 deg, deltaT: 4.385425 s, approachRate: 0.136817 m/s, LOS rate: 14.952652 deg/s, posRepo size: 4
2021-08-14T00:57:52.651Z,1628902672.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.952652 deg/s. Setting heading cmd to target bearing of 77.464823deg and heading rate command to 0 deg/s.
2021-08-14T00:57:55.061Z,1628902675.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:57:55.421Z,1628902675.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:57:55.421Z,1628902675.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:57:55.421Z,1628902675.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:57:55.422Z,1628902675.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:57:55.837Z,1628902675.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B4,000,00661,185,80,80,6F,FF
2021-08-14T00:57:55.837Z,1628902675.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:57:55.837Z,1628902675.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:57:55.839Z,1628902675.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:57:56.223Z,1628902676.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:57:56.625Z,1628902676.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,00667,186,80,80,8A,FF
2021-08-14T00:57:56.626Z,1628902676.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:57:57.053Z,1628902677.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005756.88*5F

2021-08-14T00:57:57.091Z,1628902677.091 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T00:57:57.112Z,1628902677.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.840000 m, bearing: 67.346335 deg, deltaT: 4.444578 s, approachRate: 0.080997 m/s, LOS rate: -2.276591 deg/s, posRepo size: 4
2021-08-14T00:57:57.148Z,1628902677.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.840000 m,
      bearing: 67.346335 deg,
      approachRate: 0.080997 m/s,
      LOS rate: -2.276591 deg/s,
      cmd update: -6.829774 deg/s,
      cmd heading: 77.464823 deg,
      new cmd heading: 77.464823 deg.

2021-08-14T00:57:59.478Z,1628902679.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:57:59.857Z,1628902679.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:57:59.857Z,1628902679.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:57:59.857Z,1628902679.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:57:59.858Z,1628902679.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:58:00.261Z,1628902680.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,00667,186,80,80,8A,FF
2021-08-14T00:58:00.261Z,1628902680.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:58:00.262Z,1628902680.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:58:00.263Z,1628902680.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:58:00.669Z,1628902680.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:58:01.065Z,1628902681.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,114,000,00665,186,80,80,5C,FF
2021-08-14T00:58:01.066Z,1628902681.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:58:01.501Z,1628902681.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005801.31*50

2021-08-14T00:58:01.533Z,1628902681.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.720005 m, bearing: 45.967378 deg, deltaT: 4.520756 s, approachRate: -0.026543 m/s, LOS rate: -4.729067 deg/s, posRepo size: 4
2021-08-14T00:58:01.535Z,1628902681.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.720005 m,
      bearing: 45.967378 deg,
      approachRate: -0.026543 m/s,
      LOS rate: -4.729067 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 46.659871 deg,
      new cmd heading: 44.063491 deg.

2021-08-14T00:58:03.937Z,1628902683.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:58:04.297Z,1628902684.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:58:04.297Z,1628902684.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:58:04.297Z,1628902684.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:58:04.298Z,1628902684.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:58:04.701Z,1628902684.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
114,000,00665,186,80,80,5C,FF
2021-08-14T00:58:04.701Z,1628902684.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:58:04.701Z,1628902684.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:58:04.703Z,1628902684.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:58:05.108Z,1628902685.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:58:05.506Z,1628902685.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,428,000,00661,18A,80,80,95,FF
2021-08-14T00:58:05.506Z,1628902685.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:58:05.949Z,1628902685.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005805.75*54

2021-08-14T00:58:05.974Z,1628902685.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.480003 m, bearing: 6.531743 deg, deltaT: 4.392611 s, approachRate: -0.054638 m/s, LOS rate: -8.977720 deg/s, posRepo size: 4
2021-08-14T00:58:05.996Z,1628902685.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.480003 m,
      bearing: 6.531743 deg,
      approachRate: -0.054638 m/s,
      LOS rate: -8.977720 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 353.870297 deg,
      new cmd heading: 348.799085 deg.

2021-08-14T00:58:08.359Z,1628902688.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:58:08.747Z,1628902688.747 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:58:08.748Z,1628902688.748 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:58:08.748Z,1628902688.748 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:58:08.749Z,1628902688.749 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:58:09.145Z,1628902689.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
428,000,00661,18A,80,80,95,FF
2021-08-14T00:58:09.145Z,1628902689.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:58:09.145Z,1628902689.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:58:09.147Z,1628902689.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:58:09.637Z,1628902689.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:58:10.021Z,1628902690.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0065D,189,80,80,96,FF
2021-08-14T00:58:10.022Z,1628902690.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:58:10.454Z,1628902690.454 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005810.19*5A

2021-08-14T00:58:10.472Z,1628902690.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.240002 m, bearing: 340.083233 deg, deltaT: 4.535099 s, approachRate: -0.052921 m/s, LOS rate: -5.831957 deg/s, posRepo size: 4
2021-08-14T00:58:10.474Z,1628902690.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.240002 m,
      bearing: 340.083233 deg,
      approachRate: -0.052921 m/s,
      LOS rate: -5.831957 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 299.568472 deg,
      new cmd heading: 294.829252 deg.

2021-08-14T00:58:12.928Z,1628902692.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:58:13.257Z,1628902693.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:58:13.257Z,1628902693.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:58:13.258Z,1628902693.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:58:13.259Z,1628902693.259 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:58:13.661Z,1628902693.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0065D,189,80,80,96,FF
2021-08-14T00:58:13.661Z,1628902693.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:58:13.661Z,1628902693.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:58:13.663Z,1628902693.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:58:14.069Z,1628902694.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:58:14.469Z,1628902694.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0063F,189,80,80,B7,FF
2021-08-14T00:58:14.469Z,1628902694.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:58:14.921Z,1628902694.921 [Micromodem](INFO): Nmea in: $SNTTA,0.239496,,,,005814.70*4C

2021-08-14T00:58:14.989Z,1628902694.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.440002 m, bearing: 323.082974 deg, deltaT: 4.423905 s, approachRate: -0.406880 m/s, LOS rate: -3.842817 deg/s, posRepo size: 4
2021-08-14T00:58:15.012Z,1628902695.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.440002 m,
      bearing: 323.082974 deg,
      approachRate: -0.406880 m/s,
      LOS rate: -3.842817 deg/s,
      cmd update: -11.528452 deg/s,
      cmd heading: 246.364814 deg,
      new cmd heading: 240.623402 deg.

2021-08-14T00:58:17.326Z,1628902697.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:58:17.697Z,1628902697.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:58:17.697Z,1628902697.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:58:17.697Z,1628902697.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:58:17.698Z,1628902697.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:58:18.109Z,1628902698.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0063F,189,80,80,B7,FF
2021-08-14T00:58:18.109Z,1628902698.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:58:18.109Z,1628902698.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:58:18.111Z,1628902698.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:58:18.509Z,1628902698.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:58:18.937Z,1628902698.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,365,000,0062D,189,80,80,8B,FF
2021-08-14T00:58:18.938Z,1628902698.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:58:19.349Z,1628902699.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005819.15*5F

2021-08-14T00:58:19.443Z,1628902699.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.360001 m, bearing: 326.525062 deg, deltaT: 4.510828 s, approachRate: -0.239424 m/s, LOS rate: 0.763072 deg/s, posRepo size: 4
2021-08-14T00:58:19.445Z,1628902699.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.360001 m,
      bearing: 326.525062 deg,
      approachRate: -0.239424 m/s,
      LOS rate: 0.763072 deg/s,
      cmd update: 2.289217 deg/s,
      cmd heading: 194.316852 deg,
      new cmd heading: 189.521823 deg.

2021-08-14T00:58:21.798Z,1628902701.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:58:22.145Z,1628902702.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:58:22.145Z,1628902702.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:58:22.145Z,1628902702.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:58:22.146Z,1628902702.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:58:22.550Z,1628902702.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
365,000,0062D,189,80,80,8B,FF
2021-08-14T00:58:22.551Z,1628902702.551 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:58:22.551Z,1628902702.551 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:58:22.552Z,1628902702.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:58:22.952Z,1628902702.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:58:23.354Z,1628902703.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,00606,189,80,80,73,FF
2021-08-14T00:58:23.354Z,1628902703.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:58:23.801Z,1628902703.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005823.60*54

2021-08-14T00:58:23.831Z,1628902703.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.019997 m, bearing: 321.151725 deg, deltaT: 4.390205 s, approachRate: -0.533006 m/s, LOS rate: -1.223938 deg/s, posRepo size: 4
2021-08-14T00:58:23.833Z,1628902703.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.019997 m,
      bearing: 321.151725 deg,
      approachRate: -0.533006 m/s,
      LOS rate: -1.223938 deg/s,
      cmd update: -3.671813 deg/s,
      cmd heading: 204.358375 deg,
      new cmd heading: 205.319464 deg.

2021-08-14T00:58:26.201Z,1628902706.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:58:26.589Z,1628902706.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:58:26.589Z,1628902706.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:58:26.589Z,1628902706.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:58:26.590Z,1628902706.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:58:26.994Z,1628902706.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,00606,189,80,80,73,FF
2021-08-14T00:58:26.994Z,1628902706.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:58:26.994Z,1628902706.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:58:26.995Z,1628902706.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:58:27.401Z,1628902707.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:58:27.833Z,1628902707.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,005D1,185,80,80,77,FF
2021-08-14T00:58:27.833Z,1628902707.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:58:28.233Z,1628902708.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005828.04*5D

2021-08-14T00:58:28.272Z,1628902708.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 317.027629 deg, deltaT: 4.444287 s, approachRate: -0.715524 m/s, LOS rate: -0.927954 deg/s, posRepo size: 4
2021-08-14T00:58:28.274Z,1628902708.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.840004 m,
      bearing: 317.027629 deg,
      approachRate: -0.715524 m/s,
      LOS rate: -0.927954 deg/s,
      cmd update: -2.783863 deg/s,
      cmd heading: 188.025518 deg,
      new cmd heading: 186.511971 deg.

2021-08-14T00:58:30.663Z,1628902710.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:58:31.029Z,1628902711.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:58:31.029Z,1628902711.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:58:31.029Z,1628902711.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:58:31.030Z,1628902711.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:58:31.445Z,1628902711.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,005D1,185,80,80,77,FF
2021-08-14T00:58:31.445Z,1628902711.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:58:31.445Z,1628902711.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:58:31.447Z,1628902711.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:58:31.854Z,1628902711.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:58:32.237Z,1628902712.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,0059D,185,80,80,9E,FF
2021-08-14T00:58:32.238Z,1628902712.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:58:32.681Z,1628902712.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005832.49*5F

2021-08-14T00:58:32.703Z,1628902712.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.720001 m, bearing: 316.058261 deg, deltaT: 4.422119 s, approachRate: -0.705545 m/s, LOS rate: -0.219209 deg/s, posRepo size: 4
2021-08-14T00:58:32.706Z,1628902712.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.720001 m,
      bearing: 316.058261 deg,
      approachRate: -0.705545 m/s,
      LOS rate: -0.219209 deg/s,
      cmd update: -0.657627 deg/s,
      cmd heading: 175.792599 deg,
      new cmd heading: 174.542013 deg.

2021-08-14T00:58:35.145Z,1628902715.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:58:35.477Z,1628902715.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:58:35.477Z,1628902715.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:58:35.477Z,1628902715.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:58:35.478Z,1628902715.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:58:35.881Z,1628902715.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,0059D,185,80,80,9E,FF
2021-08-14T00:58:35.881Z,1628902715.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:58:35.881Z,1628902715.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:58:35.883Z,1628902715.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:58:36.301Z,1628902716.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:58:36.685Z,1628902716.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E43,000,0056C,186,80,80,95,FF
2021-08-14T00:58:36.686Z,1628902716.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:58:37.101Z,1628902717.101 [Micromodem](INFO): Nmea in: $SNTTA,0.391025,0.391112,,,005836.92*58

2021-08-14T00:58:37.174Z,1628902717.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.780003 m, bearing: 316.229617 deg, deltaT: 4.476692 s, approachRate: -0.656735 m/s, LOS rate: 0.038277 deg/s, posRepo size: 4
2021-08-14T00:58:37.176Z,1628902717.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.780003 m,
      bearing: 316.229617 deg,
      approachRate: -0.656735 m/s,
      LOS rate: 0.038277 deg/s,
      cmd update: 0.114832 deg/s,
      cmd heading: 172.839261 deg,
      new cmd heading: 172.557243 deg.

2021-08-14T00:58:39.534Z,1628902719.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:58:39.921Z,1628902719.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:58:39.922Z,1628902719.922 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:58:39.922Z,1628902719.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:58:39.923Z,1628902719.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:58:40.321Z,1628902720.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E43,000,0056C,186,80,80,95,FF
2021-08-14T00:58:40.321Z,1628902720.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:58:40.321Z,1628902720.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:58:40.323Z,1628902720.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:58:40.733Z,1628902720.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:58:41.133Z,1628902721.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCD,000,0053F,189,80,80,A1,FF
2021-08-14T00:58:41.133Z,1628902721.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:58:41.561Z,1628902721.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005841.36*53

2021-08-14T00:58:41.595Z,1628902721.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.080002 m, bearing: 315.862426 deg, deltaT: 4.458654 s, approachRate: -0.605564 m/s, LOS rate: -0.082355 deg/s, posRepo size: 4
2021-08-14T00:58:41.597Z,1628902721.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.080002 m,
      bearing: 315.862426 deg,
      approachRate: -0.605564 m/s,
      LOS rate: -0.082355 deg/s,
      cmd update: -0.247064 deg/s,
      cmd heading: 173.351445 deg,
      new cmd heading: 173.396203 deg.

2021-08-14T00:58:44.001Z,1628902724.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:58:44.366Z,1628902724.366 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:58:44.366Z,1628902724.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:58:44.366Z,1628902724.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:58:44.367Z,1628902724.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:58:44.784Z,1628902724.784 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCD,000,0053F,189,80,80,A1,FF
2021-08-14T00:58:44.785Z,1628902724.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:58:44.785Z,1628902724.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:58:44.791Z,1628902724.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:58:45.173Z,1628902725.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:58:45.337Z,1628902725.337 [CTD_Seabird](ERROR): Failed to parse device response: 6.12,,4852.35
2021-08-14T00:58:45.582Z,1628902725.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B51,000,0051E,189,80,80,A6,FF
2021-08-14T00:58:45.582Z,1628902725.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:58:46.006Z,1628902726.006 [Micromodem](INFO): Nmea in: $SNTTA,0.060596,,,,005845.83*4B

2021-08-14T00:58:46.031Z,1628902726.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.099998 m, bearing: 316.249452 deg, deltaT: 4.381156 s, approachRate: -0.451936 m/s, LOS rate: 0.088339 deg/s, posRepo size: 4
2021-08-14T00:58:46.034Z,1628902726.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.099998 m,
      bearing: 316.249452 deg,
      approachRate: -0.451936 m/s,
      LOS rate: 0.088339 deg/s,
      cmd update: 0.265016 deg/s,
      cmd heading: 172.266008 deg,
      new cmd heading: 172.159047 deg.

2021-08-14T00:58:48.442Z,1628902728.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:58:48.844Z,1628902728.844 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:58:48.845Z,1628902728.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:58:48.845Z,1628902728.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:58:48.846Z,1628902728.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:58:49.221Z,1628902729.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B51,000,0051E,189,80,80,A6,FF
2021-08-14T00:58:49.221Z,1628902729.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:58:49.221Z,1628902729.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:58:49.223Z,1628902729.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:58:49.617Z,1628902729.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:58:50.025Z,1628902730.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,00511,188,80,80,2F,FF
2021-08-14T00:58:50.026Z,1628902730.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:58:50.449Z,1628902730.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005850.27*53

2021-08-14T00:58:50.484Z,1628902730.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.319996 m, bearing: 265.227010 deg, deltaT: 4.514568 s, approachRate: -0.172775 m/s, LOS rate: -11.301733 deg/s, posRepo size: 4
2021-08-14T00:58:50.486Z,1628902730.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.319996 m,
      bearing: 265.227010 deg,
      approachRate: -0.172775 m/s,
      LOS rate: -11.301733 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 173.462361 deg,
      new cmd heading: 173.560641 deg.

2021-08-14T00:58:52.921Z,1628902732.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:58:53.257Z,1628902733.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:58:53.257Z,1628902733.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:58:53.257Z,1628902733.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:58:53.258Z,1628902733.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:58:53.657Z,1628902733.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,00511,188,80,80,2F,FF
2021-08-14T00:58:53.657Z,1628902733.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:58:53.657Z,1628902733.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:58:53.659Z,1628902733.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:58:54.075Z,1628902734.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:58:54.493Z,1628902734.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E69,000,0050B,185,80,80,65,FF
2021-08-14T00:58:54.493Z,1628902734.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:58:54.933Z,1628902734.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005854.70*55

2021-08-14T00:58:54.971Z,1628902734.971 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T00:58:55.014Z,1628902735.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 241.363340 deg, deltaT: 4.397251 s, approachRate: -0.081869 m/s, LOS rate: -5.426952 deg/s, posRepo size: 4
2021-08-14T00:58:55.014Z,1628902735.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.96 m.
2021-08-14T00:58:55.021Z,1628902735.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.959999 m,
      bearing: 241.363340 deg,
      approachRate: -0.081869 m/s,
      LOS rate: -5.426952 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 120.692288 deg,
      new cmd heading: 114.647768 deg.

2021-08-14T00:58:55.310Z,1628902735.310 [PowerOnly](INFO): Powering up loadControl
2021-08-14T00:58:55.341Z,1628902735.341 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T00:58:55.341Z,1628902735.341 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T00:58:55.342Z,1628902735.342 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T00:58:55.345Z,1628902735.345 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T00:58:55.345Z,1628902735.345 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T00:58:55.345Z,1628902735.345 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T00:58:55.751Z,1628902735.751 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T00:58:55.751Z,1628902735.751 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T00:58:55.751Z,1628902735.751 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T00:58:55.752Z,1628902735.752 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T00:58:57.021Z,1628902737.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:58:57.306Z,1628902737.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:58:57.306Z,1628902737.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:58:57.306Z,1628902737.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:58:57.307Z,1628902737.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:58:57.693Z,1628902737.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E69,000,0050B,185,80,80,65,FF
2021-08-14T00:58:57.693Z,1628902737.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:58:57.693Z,1628902737.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:58:57.695Z,1628902737.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:58:58.121Z,1628902738.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:58:58.501Z,1628902738.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9E,000,00516,189,80,80,5C,FF
2021-08-14T00:58:58.502Z,1628902738.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:58:58.522Z,1628902738.522 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T00:58:58.958Z,1628902738.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005858.74*5D

2021-08-14T00:58:59.029Z,1628902739.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.620003 m, bearing: 250.992404 deg, deltaT: 4.008625 s, approachRate: 0.164646 m/s, LOS rate: 2.402087 deg/s, posRepo size: 4
2021-08-14T00:58:59.031Z,1628902739.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.620003 m,
      bearing: 250.992404 deg,
      approachRate: 0.164646 m/s,
      LOS rate: 2.402087 deg/s,
      cmd update: 7.206259 deg/s,
      cmd heading: 72.594307 deg,
      new cmd heading: 66.517435 deg.

2021-08-14T00:58:59.353Z,1628902739.353 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T00:58:59.353Z,1628902739.353 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T00:58:59.354Z,1628902739.354 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T00:58:59.354Z,1628902739.354 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T00:58:59.354Z,1628902739.354 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T00:58:59.354Z,1628902739.354 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T00:58:59.744Z,1628902739.744 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T00:58:59.745Z,1628902739.745 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T00:58:59.745Z,1628902739.745 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T00:58:59.745Z,1628902739.745 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T00:59:01.090Z,1628902741.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:59:01.334Z,1628902741.334 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:59:01.334Z,1628902741.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:59:01.334Z,1628902741.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:59:01.340Z,1628902741.340 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:59:01.729Z,1628902741.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9E,000,00516,189,80,80,5C,FF
2021-08-14T00:59:01.729Z,1628902741.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:59:01.730Z,1628902741.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:59:01.740Z,1628902741.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:59:02.145Z,1628902742.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:59:02.545Z,1628902742.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,0052D,187,80,80,46,FF
2021-08-14T00:59:02.546Z,1628902742.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:59:02.982Z,1628902742.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005902.78*5F

2021-08-14T00:59:03.065Z,1628902743.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.000000 m, bearing: 190.663132 deg, deltaT: 4.043416 s, approachRate: 0.341295 m/s, LOS rate: -14.920372 deg/s, posRepo size: 4
2021-08-14T00:59:03.066Z,1628902743.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.920372 deg/s. Setting heading cmd to target bearing of 190.663132deg and heading rate command to 0 deg/s.
2021-08-14T00:59:05.443Z,1628902745.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:59:05.781Z,1628902745.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:59:05.781Z,1628902745.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:59:05.782Z,1628902745.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:59:05.783Z,1628902745.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:59:06.181Z,1628902746.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,0052D,187,80,80,46,FF
2021-08-14T00:59:06.181Z,1628902746.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:59:06.181Z,1628902746.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:59:06.183Z,1628902746.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:59:06.594Z,1628902746.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:59:07.418Z,1628902747.418 [Micromodem](INFO): Nmea in: $SNTTA,0.031193,,,,005907.22*42

2021-08-14T00:59:08.238Z,1628902748.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:59:09.426Z,1628902749.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,08357,187,80,80,46,FF
2021-08-14T00:59:09.426Z,1628902749.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:59:09.873Z,1628902749.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1979.880127 m, bearing: 145.881380 deg, deltaT: 6.961437 s, approachRate: 278.373566 m/s, LOS rate: -6.432832 deg/s, posRepo size: 4
2021-08-14T00:59:09.875Z,1628902749.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1979.880127 m,
      bearing: 145.881380 deg,
      approachRate: 278.373566 m/s,
      LOS rate: -6.432832 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 190.663132 deg,
      new cmd heading: 190.663132 deg.

2021-08-14T00:59:12.265Z,1628902752.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:59:12.641Z,1628902752.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:59:12.641Z,1628902752.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:59:12.641Z,1628902752.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:59:12.642Z,1628902752.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:59:13.050Z,1628902753.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,08357,187,80,80,46,FF
2021-08-14T00:59:13.050Z,1628902753.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:59:13.050Z,1628902753.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:59:13.051Z,1628902753.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:59:13.449Z,1628902753.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:59:13.857Z,1628902753.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB6,000,00591,189,80,80,90,FF
2021-08-14T00:59:13.858Z,1628902753.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:59:14.289Z,1628902754.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005914.09*5E

2021-08-14T00:59:14.327Z,1628902754.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.999996 m, bearing: 196.035664 deg, deltaT: 4.384576 s, approachRate: -440.608185 m/s, LOS rate: 11.438799 deg/s, posRepo size: 4
2021-08-14T00:59:14.329Z,1628902754.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.999996 m,
      bearing: 196.035664 deg,
      approachRate: -440.608185 m/s,
      LOS rate: 11.438799 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 138.192314 deg,
      new cmd heading: 132.884210 deg.

2021-08-14T00:59:16.703Z,1628902756.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:59:17.085Z,1628902757.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:59:17.085Z,1628902757.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:59:17.085Z,1628902757.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:59:17.086Z,1628902757.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:59:17.493Z,1628902757.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB6,000,00591,189,80,80,90,FF
2021-08-14T00:59:17.493Z,1628902757.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:59:17.494Z,1628902757.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:59:17.496Z,1628902757.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:59:17.892Z,1628902757.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:59:18.297Z,1628902758.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,005BF,187,80,80,3B,FF
2021-08-14T00:59:18.297Z,1628902758.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:59:18.732Z,1628902758.732 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005918.54*5A

2021-08-14T00:59:18.804Z,1628902758.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.760002 m, bearing: 185.249019 deg, deltaT: 4.405832 s, approachRate: 0.626444 m/s, LOS rate: -2.448265 deg/s, posRepo size: 4
2021-08-14T00:59:18.806Z,1628902758.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.760002 m,
      bearing: 185.249019 deg,
      approachRate: 0.626444 m/s,
      LOS rate: -2.448265 deg/s,
      cmd update: -7.344795 deg/s,
      cmd heading: 191.348236 deg,
      new cmd heading: 197.180152 deg.

2021-08-14T00:59:21.197Z,1628902761.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:59:21.533Z,1628902761.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:59:21.533Z,1628902761.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:59:21.533Z,1628902761.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:59:21.534Z,1628902761.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:59:21.929Z,1628902761.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,005BF,187,80,80,3B,FF
2021-08-14T00:59:21.929Z,1628902761.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:59:21.930Z,1628902761.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:59:21.931Z,1628902761.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:59:22.337Z,1628902762.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:59:22.749Z,1628902762.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,005E6,189,80,80,57,FF
2021-08-14T00:59:22.750Z,1628902762.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:59:23.177Z,1628902763.177 [Micromodem](INFO): Nmea in: $SNTTA,0.044944,,,,005922.97*4B

2021-08-14T00:59:23.225Z,1628902763.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.100006 m, bearing: 204.337035 deg, deltaT: 4.569553 s, approachRate: 0.512086 m/s, LOS rate: 4.177217 deg/s, posRepo size: 4
2021-08-14T00:59:23.227Z,1628902763.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.100006 m,
      bearing: 204.337035 deg,
      approachRate: 0.512086 m/s,
      LOS rate: 4.177217 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 158.039222 deg,
      new cmd heading: 155.280444 deg.

2021-08-14T00:59:25.608Z,1628902765.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:59:25.969Z,1628902765.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:59:25.969Z,1628902765.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:59:25.969Z,1628902765.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:59:25.970Z,1628902765.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:59:26.382Z,1628902766.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,005E6,189,80,80,57,FF
2021-08-14T00:59:26.382Z,1628902766.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:59:26.383Z,1628902766.383 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:59:26.386Z,1628902766.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:59:26.806Z,1628902766.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:59:27.182Z,1628902767.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D08,000,00614,18A,80,80,7A,FF
2021-08-14T00:59:27.182Z,1628902767.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:59:27.621Z,1628902767.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005927.43*50

2021-08-14T00:59:27.657Z,1628902767.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.859997 m, bearing: 209.582552 deg, deltaT: 4.358229 s, approachRate: 0.633283 m/s, LOS rate: 1.203589 deg/s, posRepo size: 4
2021-08-14T00:59:27.659Z,1628902767.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.859997 m,
      bearing: 209.582552 deg,
      approachRate: 0.633283 m/s,
      LOS rate: 1.203589 deg/s,
      cmd update: 3.610768 deg/s,
      cmd heading: 210.465484 deg,
      new cmd heading: 215.734888 deg.

2021-08-14T00:59:30.037Z,1628902770.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:59:30.421Z,1628902770.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:59:30.421Z,1628902770.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:59:30.421Z,1628902770.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:59:30.422Z,1628902770.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:59:30.849Z,1628902770.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D08,000,00614,18A,80,80,7A,FF
2021-08-14T00:59:30.849Z,1628902770.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:59:30.850Z,1628902770.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:59:30.865Z,1628902770.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:59:31.232Z,1628902771.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:59:31.633Z,1628902771.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F14,000,00642,186,80,80,52,FF
2021-08-14T00:59:31.633Z,1628902771.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:59:32.055Z,1628902772.055 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005931.91*58

2021-08-14T00:59:32.121Z,1628902772.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.620003 m, bearing: 195.236928 deg, deltaT: 4.413594 s, approachRate: 0.625342 m/s, LOS rate: -3.250327 deg/s, posRepo size: 4
2021-08-14T00:59:32.122Z,1628902772.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.620003 m,
      bearing: 195.236928 deg,
      approachRate: 0.625342 m/s,
      LOS rate: -3.250327 deg/s,
      cmd update: -9.750981 deg/s,
      cmd heading: 226.488752 deg,
      new cmd heading: 228.152601 deg.

2021-08-14T00:59:34.510Z,1628902774.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:59:34.880Z,1628902774.880 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:59:34.881Z,1628902774.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:59:34.881Z,1628902774.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:59:34.883Z,1628902774.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:59:35.261Z,1628902775.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F14,000,00642,186,80,80,52,FF
2021-08-14T00:59:35.261Z,1628902775.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:59:35.262Z,1628902775.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:59:35.263Z,1628902775.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:59:35.665Z,1628902775.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:59:36.077Z,1628902776.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9A,000,00667,185,80,80,95,FF
2021-08-14T00:59:36.077Z,1628902776.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:59:36.509Z,1628902776.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005936.31*55

2021-08-14T00:59:36.543Z,1628902776.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.840000 m, bearing: 216.878450 deg, deltaT: 4.481615 s, approachRate: 0.495357 m/s, LOS rate: 4.828956 deg/s, posRepo size: 4
2021-08-14T00:59:36.549Z,1628902776.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.840000 m,
      bearing: 216.878450 deg,
      approachRate: 0.495357 m/s,
      LOS rate: 4.828956 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 182.869727 deg,
      new cmd heading: 178.829272 deg.

2021-08-14T00:59:39.005Z,1628902779.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:59:39.313Z,1628902779.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:59:39.313Z,1628902779.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:59:39.313Z,1628902779.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:59:39.314Z,1628902779.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:59:39.709Z,1628902779.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9A,000,00667,185,80,80,95,FF
2021-08-14T00:59:39.709Z,1628902779.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:59:39.709Z,1628902779.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:59:39.710Z,1628902779.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:59:40.126Z,1628902780.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:59:40.521Z,1628902780.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAA,000,00685,189,80,80,85,FF
2021-08-14T00:59:40.522Z,1628902780.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:59:40.969Z,1628902780.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005940.75*54

2021-08-14T00:59:41.058Z,1628902781.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.640007 m, bearing: 237.748476 deg, deltaT: 4.436270 s, approachRate: 0.405748 m/s, LOS rate: 4.704408 deg/s, posRepo size: 4
2021-08-14T00:59:41.064Z,1628902781.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.640007 m,
      bearing: 237.748476 deg,
      approachRate: 0.405748 m/s,
      LOS rate: 4.704408 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 236.166865 deg,
      new cmd heading: 242.017405 deg.

2021-08-14T00:59:43.374Z,1628902783.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:59:43.745Z,1628902783.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:59:43.745Z,1628902783.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:59:43.745Z,1628902783.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:59:43.746Z,1628902783.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:59:44.153Z,1628902784.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAA,000,00685,189,80,80,85,FF
2021-08-14T00:59:44.153Z,1628902784.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:59:44.153Z,1628902784.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:59:44.155Z,1628902784.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:59:44.569Z,1628902784.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:59:44.958Z,1628902784.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,006AC,187,80,80,77,FF
2021-08-14T00:59:44.958Z,1628902784.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:59:45.397Z,1628902785.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005945.20*51

2021-08-14T00:59:45.434Z,1628902785.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.980003 m, bearing: 206.236988 deg, deltaT: 4.463924 s, approachRate: 0.524202 m/s, LOS rate: -7.059145 deg/s, posRepo size: 4
2021-08-14T00:59:45.436Z,1628902785.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.980003 m,
      bearing: 206.236988 deg,
      approachRate: 0.524202 m/s,
      LOS rate: -7.059145 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 289.762766 deg,
      new cmd heading: 294.534231 deg.

2021-08-14T00:59:47.858Z,1628902787.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:59:48.193Z,1628902788.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:59:48.194Z,1628902788.194 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:59:48.194Z,1628902788.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:59:48.195Z,1628902788.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:59:48.601Z,1628902788.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,006AC,187,80,80,77,FF
2021-08-14T00:59:48.601Z,1628902788.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:59:48.601Z,1628902788.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:59:48.603Z,1628902788.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:59:49.008Z,1628902789.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:59:49.413Z,1628902789.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,006CF,189,80,80,6D,FF
2021-08-14T00:59:49.413Z,1628902789.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:59:49.849Z,1628902789.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005949.65*5C

2021-08-14T00:59:49.895Z,1628902789.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.080002 m, bearing: 240.803838 deg, deltaT: 4.416948 s, approachRate: 0.475441 m/s, LOS rate: 7.825958 deg/s, posRepo size: 4
2021-08-14T00:59:49.898Z,1628902789.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.080002 m,
      bearing: 240.803838 deg,
      approachRate: 0.475441 m/s,
      LOS rate: 7.825958 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 237.038149 deg,
      new cmd heading: 231.457201 deg.

2021-08-14T00:59:52.246Z,1628902792.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:59:52.653Z,1628902792.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:59:52.653Z,1628902792.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:59:52.653Z,1628902792.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:59:52.654Z,1628902792.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:59:53.037Z,1628902793.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,006CF,189,80,80,6D,FF
2021-08-14T00:59:53.037Z,1628902793.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:59:53.037Z,1628902793.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:59:53.039Z,1628902793.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:59:53.462Z,1628902793.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:59:53.845Z,1628902793.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,006F7,185,80,80,92,FF
2021-08-14T00:59:53.845Z,1628902793.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:59:54.286Z,1628902794.286 [Micromodem](INFO): Nmea in: $SNTTA,0.045906,,,,005954.08*4B

2021-08-14T00:59:54.302Z,1628902794.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.479996 m, bearing: 245.330641 deg, deltaT: 4.450836 s, approachRate: 0.539223 m/s, LOS rate: 1.017068 deg/s, posRepo size: 4
2021-08-14T00:59:54.304Z,1628902794.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.479996 m,
      bearing: 245.330641 deg,
      approachRate: 0.539223 m/s,
      LOS rate: 1.017068 deg/s,
      cmd update: 3.051204 deg/s,
      cmd heading: 290.635179 deg,
      new cmd heading: 295.497015 deg.

2021-08-14T00:59:56.724Z,1628902796.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T00:59:57.085Z,1628902797.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T00:59:57.085Z,1628902797.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T00:59:57.085Z,1628902797.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T00:59:57.086Z,1628902797.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T00:59:57.482Z,1628902797.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,006F7,185,80,80,92,FF
2021-08-14T00:59:57.482Z,1628902797.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T00:59:57.482Z,1628902797.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T00:59:57.502Z,1628902797.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T00:59:57.893Z,1628902797.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T00:59:58.290Z,1628902798.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,00700,186,80,80,79,FF
2021-08-14T00:59:58.290Z,1628902798.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T00:59:58.730Z,1628902798.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005958.55*5F

2021-08-14T00:59:58.791Z,1628902798.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.020004 m, bearing: 261.456445 deg, deltaT: 4.453535 s, approachRate: 0.121254 m/s, LOS rate: 3.620900 deg/s, posRepo size: 4
2021-08-14T00:59:58.798Z,1628902798.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.020004 m,
      bearing: 261.456445 deg,
      approachRate: 0.121254 m/s,
      LOS rate: 3.620900 deg/s,
      cmd update: 10.862699 deg/s,
      cmd heading: 304.235126 deg,
      new cmd heading: 305.570394 deg.

2021-08-14T01:00:01.185Z,1628902801.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:00:01.527Z,1628902801.527 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:00:01.527Z,1628902801.527 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:00:01.527Z,1628902801.527 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:00:01.528Z,1628902801.528 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:00:01.925Z,1628902801.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,00700,186,80,80,79,FF
2021-08-14T01:00:01.925Z,1628902801.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:00:01.925Z,1628902801.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:00:01.927Z,1628902801.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:00:02.332Z,1628902802.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:00:02.737Z,1628902802.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D93,000,00703,189,80,80,89,FF
2021-08-14T01:00:02.738Z,1628902802.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:00:03.178Z,1628902803.178 [Micromodem](INFO): Nmea in: $SNTTA,0.063667,,,,010002.97*4F

2021-08-14T01:00:03.258Z,1628902803.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.200005 m, bearing: 294.517593 deg, deltaT: 4.455365 s, approachRate: 0.040401 m/s, LOS rate: 7.420525 deg/s, posRepo size: 4
2021-08-14T01:00:03.266Z,1628902803.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.200005 m,
      bearing: 294.517593 deg,
      approachRate: 0.040401 m/s,
      LOS rate: 7.420525 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 352.580664 deg,
      new cmd heading: 357.509700 deg.

2021-08-14T01:00:03.967Z,1628902803.967 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:00:05.585Z,1628902805.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:00:05.965Z,1628902805.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:00:05.965Z,1628902805.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:00:05.965Z,1628902805.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:00:05.966Z,1628902805.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:00:06.370Z,1628902806.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D93,000,00703,189,80,80,89,FF
2021-08-14T01:00:06.370Z,1628902806.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:00:06.370Z,1628902806.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:00:06.373Z,1628902806.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:00:06.795Z,1628902806.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:00:07.189Z,1628902807.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,006FD,18A,80,80,99,FF
2021-08-14T01:00:07.190Z,1628902807.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:00:07.625Z,1628902807.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010007.41*5D

2021-08-14T01:00:07.647Z,1628902807.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.840004 m, bearing: 343.784676 deg, deltaT: 4.477108 s, approachRate: -0.080409 m/s, LOS rate: 11.004220 deg/s, posRepo size: 4
2021-08-14T01:00:07.649Z,1628902807.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.840004 m,
      bearing: 343.784676 deg,
      approachRate: -0.080409 m/s,
      LOS rate: 11.004220 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 46.297309 deg,
      new cmd heading: 50.690809 deg.

2021-08-14T01:00:10.061Z,1628902810.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:00:10.417Z,1628902810.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:00:10.417Z,1628902810.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:00:10.417Z,1628902810.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:00:10.418Z,1628902810.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:00:10.836Z,1628902810.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,006FD,18A,80,80,99,FF
2021-08-14T01:00:10.837Z,1628902810.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:00:10.838Z,1628902810.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:00:10.845Z,1628902810.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:00:11.232Z,1628902811.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:00:11.621Z,1628902811.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BDB,000,004DB,189,80,80,BF,FF
2021-08-14T01:00:11.622Z,1628902811.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:00:12.056Z,1628902812.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010011.89*5E

2021-08-14T01:00:12.099Z,1628902812.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 351.523199 deg, deltaT: 4.346915 s, approachRate: -7.536380 m/s, LOS rate: 1.780233 deg/s, posRepo size: 4
2021-08-14T01:00:12.099Z,1628902812.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.08 m.
2021-08-14T01:00:12.104Z,1628902812.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 37.08 m.
2021-08-14T01:00:12.104Z,1628902812.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T01:00:12.106Z,1628902812.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.080002 m,
      bearing: 351.523199 deg,
      approachRate: -7.536380 m/s,
      LOS rate: 1.780233 deg/s,
      cmd update: 5.340700 deg/s,
      cmd heading: 98.582619 deg,
      new cmd heading: 104.111499 deg.

2021-08-14T01:00:12.473Z,1628902812.473 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:00:12.473Z,1628902812.473 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:00:12.473Z,1628902812.473 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:00:12.474Z,1628902812.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:00:12.474Z,1628902812.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:00:12.474Z,1628902812.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:00:12.934Z,1628902812.934 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:00:12.935Z,1628902812.935 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:00:12.935Z,1628902812.935 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:00:12.935Z,1628902812.935 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:00:14.512Z,1628902814.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:00:14.864Z,1628902814.864 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:00:14.865Z,1628902814.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:00:14.865Z,1628902814.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:00:14.867Z,1628902814.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:00:15.269Z,1628902815.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BDB,000,004DB,189,80,80,BF,FF
2021-08-14T01:00:15.269Z,1628902815.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:00:15.269Z,1628902815.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:00:15.271Z,1628902815.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:00:15.665Z,1628902815.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:00:16.071Z,1628902816.071 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D67,000,006D4,189,80,80,A4,FF
2021-08-14T01:00:16.071Z,1628902816.071 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:00:16.102Z,1628902816.102 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:00:16.517Z,1628902816.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010016.31*5A

2021-08-14T01:00:16.547Z,1628902816.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.380005 m, bearing: 349.374613 deg, deltaT: 4.460966 s, approachRate: 6.792252 m/s, LOS rate: -0.481641 deg/s, posRepo size: 4
2021-08-14T01:00:16.549Z,1628902816.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.380005 m,
      bearing: 349.374613 deg,
      approachRate: 6.792252 m/s,
      LOS rate: -0.481641 deg/s,
      cmd update: -1.444924 deg/s,
      cmd heading: 122.405807 deg,
      new cmd heading: 124.801843 deg.

2021-08-14T01:00:16.978Z,1628902816.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:00:16.978Z,1628902816.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:00:16.978Z,1628902816.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:00:16.979Z,1628902816.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:00:16.979Z,1628902816.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:00:16.979Z,1628902816.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:00:17.319Z,1628902817.319 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:00:17.320Z,1628902817.320 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:00:17.320Z,1628902817.320 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:00:17.320Z,1628902817.320 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:00:19.000Z,1628902819.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:00:19.297Z,1628902819.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:00:19.297Z,1628902819.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:00:19.297Z,1628902819.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:00:19.298Z,1628902819.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:00:19.705Z,1628902819.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D67,000,006D4,189,80,80,A4,FF
2021-08-14T01:00:19.706Z,1628902819.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:00:19.706Z,1628902819.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:00:19.707Z,1628902819.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:00:20.109Z,1628902820.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:00:20.946Z,1628902820.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010020.75*5F

2021-08-14T01:00:21.801Z,1628902821.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:00:22.946Z,1628902822.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,0722C,187,80,80,81,FF
2021-08-14T01:00:22.947Z,1628902822.947 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:00:23.385Z,1628902823.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1716.179932 m, bearing: 9.907618 deg, deltaT: 6.923074 s, approachRate: 238.160095 m/s, LOS rate: 2.965881 deg/s, posRepo size: 4
2021-08-14T01:00:23.388Z,1628902823.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1716.179932 m,
      bearing: 9.907618 deg,
      approachRate: 238.160095 m/s,
      LOS rate: 2.965881 deg/s,
      cmd update: 8.897643 deg/s,
      cmd heading: 112.407827 deg,
      new cmd heading: 111.879347 deg.

2021-08-14T01:00:25.838Z,1628902825.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:00:26.174Z,1628902826.174 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:00:26.174Z,1628902826.174 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:00:26.174Z,1628902826.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:00:26.175Z,1628902826.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:00:26.569Z,1628902826.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,0722C,187,80,80,81,FF
2021-08-14T01:00:26.569Z,1628902826.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:00:26.569Z,1628902826.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:00:26.571Z,1628902826.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:00:26.977Z,1628902826.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:00:27.390Z,1628902827.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00666,185,80,80,BE,FF
2021-08-14T01:00:27.391Z,1628902827.391 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:00:27.845Z,1628902827.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010027.62*5E

2021-08-14T01:00:27.871Z,1628902827.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.780006 m, bearing: 359.734917 deg, deltaT: 4.414806 s, approachRate: -374.965485 m/s, LOS rate: -2.304226 deg/s, posRepo size: 4
2021-08-14T01:00:27.889Z,1628902827.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.780006 m,
      bearing: 359.734917 deg,
      approachRate: -374.965485 m/s,
      LOS rate: -2.304226 deg/s,
      cmd update: -6.912677 deg/s,
      cmd heading: 151.685626 deg,
      new cmd heading: 155.585107 deg.

2021-08-14T01:00:30.239Z,1628902830.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:00:30.621Z,1628902830.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:00:30.621Z,1628902830.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:00:30.621Z,1628902830.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:00:30.622Z,1628902830.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:00:31.017Z,1628902831.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00666,185,80,80,BE,FF
2021-08-14T01:00:31.017Z,1628902831.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:00:31.017Z,1628902831.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:00:31.019Z,1628902831.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:00:31.433Z,1628902831.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:00:31.837Z,1628902831.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,0063A,186,80,80,9F,FF
2021-08-14T01:00:31.838Z,1628902831.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:00:32.266Z,1628902832.266 [Micromodem](INFO): Nmea in: $SNTTA,0.049850,,,,010032.06*46

2021-08-14T01:00:32.287Z,1628902832.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.139999 m, bearing: 356.417658 deg, deltaT: 4.464404 s, approachRate: -0.591346 m/s, LOS rate: -0.743046 deg/s, posRepo size: 4
2021-08-14T01:00:32.289Z,1628902832.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.139999 m,
      bearing: 356.417658 deg,
      approachRate: -0.591346 m/s,
      LOS rate: -0.743046 deg/s,
      cmd update: -2.229139 deg/s,
      cmd heading: 120.851256 deg,
      new cmd heading: 118.127094 deg.

2021-08-14T01:00:34.671Z,1628902834.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:00:35.053Z,1628902835.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:00:35.053Z,1628902835.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:00:35.053Z,1628902835.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:00:35.054Z,1628902835.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:00:35.465Z,1628902835.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F7,000,0063A,186,80,80,9F,FF
2021-08-14T01:00:35.466Z,1628902835.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:00:35.466Z,1628902835.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:00:35.467Z,1628902835.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:00:35.873Z,1628902835.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:00:36.265Z,1628902836.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,375,000,00611,189,80,80,7C,FF
2021-08-14T01:00:36.266Z,1628902836.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:00:36.713Z,1628902836.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010036.51*5E

2021-08-14T01:00:36.738Z,1628902836.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.680000 m, bearing: 355.457306 deg, deltaT: 4.380754 s, approachRate: -0.561547 m/s, LOS rate: -0.219221 deg/s, posRepo size: 4
2021-08-14T01:00:36.742Z,1628902836.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.680000 m,
      bearing: 355.457306 deg,
      approachRate: -0.561547 m/s,
      LOS rate: -0.219221 deg/s,
      cmd update: -0.657662 deg/s,
      cmd heading: 111.067496 deg,
      new cmd heading: 110.057179 deg.

2021-08-14T01:00:39.170Z,1628902839.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:00:39.505Z,1628902839.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:00:39.505Z,1628902839.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:00:39.506Z,1628902839.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:00:39.506Z,1628902839.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:00:39.909Z,1628902839.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
375,000,00611,189,80,80,7C,FF
2021-08-14T01:00:39.909Z,1628902839.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:00:39.909Z,1628902839.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:00:39.911Z,1628902839.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:00:40.308Z,1628902840.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:00:40.709Z,1628902840.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005F0,18A,80,80,A7,FF
2021-08-14T01:00:40.710Z,1628902840.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:00:41.154Z,1628902841.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010040.95*57

2021-08-14T01:00:41.221Z,1628902841.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 354.121703 deg, deltaT: 4.484857 s, approachRate: -0.441485 m/s, LOS rate: -0.297803 deg/s, posRepo size: 4
2021-08-14T01:00:41.223Z,1628902841.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.700005 m,
      bearing: 354.121703 deg,
      approachRate: -0.441485 m/s,
      LOS rate: -0.297803 deg/s,
      cmd update: -0.893408 deg/s,
      cmd heading: 108.144875 deg,
      new cmd heading: 107.832966 deg.

2021-08-14T01:00:43.571Z,1628902843.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:00:43.957Z,1628902843.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:00:43.957Z,1628902843.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:00:43.957Z,1628902843.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:00:43.958Z,1628902843.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:00:44.349Z,1628902844.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005F0,18A,80,80,A7,FF
2021-08-14T01:00:44.350Z,1628902844.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:00:44.350Z,1628902844.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:00:44.351Z,1628902844.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:00:44.792Z,1628902844.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:00:45.161Z,1628902845.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D46,000,005D8,189,80,80,AB,FF
2021-08-14T01:00:45.161Z,1628902845.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:00:45.593Z,1628902845.593 [Micromodem](INFO): Nmea in: $SNTTA,0.057578,,,,010045.39*42

2021-08-14T01:00:45.630Z,1628902845.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.260002 m, bearing: 109.152775 deg, deltaT: 4.485171 s, approachRate: -0.321059 m/s, LOS rate: 25.646973 deg/s, posRepo size: 4
2021-08-14T01:00:45.631Z,1628902845.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 25.646973 deg/s. Setting heading cmd to target bearing of 109.152775deg and heading rate command to 0 deg/s.
2021-08-14T01:00:48.033Z,1628902848.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:00:48.393Z,1628902848.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:00:48.394Z,1628902848.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:00:48.394Z,1628902848.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:00:48.395Z,1628902848.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:00:48.842Z,1628902848.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D46,000,005D8,189,80,80,AB,FF
2021-08-14T01:00:48.842Z,1628902848.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:00:48.843Z,1628902848.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:00:48.862Z,1628902848.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:00:49.201Z,1628902849.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:00:49.633Z,1628902849.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,005DB,186,80,80,90,FF
2021-08-14T01:00:49.634Z,1628902849.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:00:50.081Z,1628902850.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.440002 m, bearing: 85.728484 deg, deltaT: 4.398258 s, approachRate: 0.040925 m/s, LOS rate: -5.325811 deg/s, posRepo size: 4
2021-08-14T01:00:50.083Z,1628902850.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.440002 m,
      bearing: 85.728484 deg,
      approachRate: 0.040925 m/s,
      LOS rate: -5.325811 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 109.152775 deg,
      new cmd heading: 109.152775 deg.

2021-08-14T01:00:50.437Z,1628902850.437 [Micromodem](INFO): Nmea in: $SNTTA,0.049474,,,,010049.91*4E

2021-08-14T01:00:52.458Z,1628902852.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:00:52.884Z,1628902852.884 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:00:52.885Z,1628902852.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:00:52.885Z,1628902852.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:00:52.887Z,1628902852.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:00:53.242Z,1628902853.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,005DB,186,80,80,90,FF
2021-08-14T01:00:53.242Z,1628902853.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:00:53.242Z,1628902853.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:00:53.244Z,1628902853.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:00:53.663Z,1628902853.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:00:54.049Z,1628902854.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36B,000,005E1,189,80,80,80,FF
2021-08-14T01:00:54.050Z,1628902854.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:00:54.501Z,1628902854.501 [Micromodem](INFO): Nmea in: $SNTTA,0.048041,,,,010054.29*42

2021-08-14T01:00:54.519Z,1628902854.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.799999 m, bearing: 67.197088 deg, deltaT: 4.458771 s, approachRate: 0.080739 m/s, LOS rate: -4.156167 deg/s, posRepo size: 4
2021-08-14T01:00:54.535Z,1628902854.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.799999 m,
      bearing: 67.197088 deg,
      approachRate: 0.080739 m/s,
      LOS rate: -4.156167 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 55.747817 deg,
      new cmd heading: 50.722001 deg.

2021-08-14T01:00:56.991Z,1628902856.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:00:57.273Z,1628902857.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:00:57.273Z,1628902857.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:00:57.273Z,1628902857.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:00:57.274Z,1628902857.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:00:57.673Z,1628902857.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36B,000,005E1,189,80,80,80,FF
2021-08-14T01:00:57.673Z,1628902857.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:00:57.673Z,1628902857.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:00:57.675Z,1628902857.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:00:58.085Z,1628902858.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:00:58.485Z,1628902858.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26D,000,005F3,189,80,80,7F,FF
2021-08-14T01:00:58.485Z,1628902858.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:00:58.965Z,1628902858.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010058.72*57

2021-08-14T01:00:59.030Z,1628902859.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.880001 m, bearing: 71.745052 deg, deltaT: 4.434986 s, approachRate: 0.243519 m/s, LOS rate: 1.025474 deg/s, posRepo size: 4
2021-08-14T01:00:59.034Z,1628902859.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.880001 m,
      bearing: 71.745052 deg,
      approachRate: 0.243519 m/s,
      LOS rate: 1.025474 deg/s,
      cmd update: 3.076422 deg/s,
      cmd heading: 2.565280 deg,
      new cmd heading: 356.606440 deg.

2021-08-14T01:01:01.331Z,1628902861.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:01:01.717Z,1628902861.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:01:01.717Z,1628902861.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:01:01.717Z,1628902861.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:01:01.718Z,1628902861.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:01:02.121Z,1628902862.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26D,000,005F3,189,80,80,7F,FF
2021-08-14T01:01:02.121Z,1628902862.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:01:02.121Z,1628902862.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:01:02.123Z,1628902862.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:01:02.529Z,1628902862.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:01:02.949Z,1628902862.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00567,184,80,80,6A,FF
2021-08-14T01:01:02.950Z,1628902862.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:01:03.366Z,1628902863.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010103.16*5A

2021-08-14T01:01:03.419Z,1628902863.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.479996 m, bearing: 84.090352 deg, deltaT: 4.499672 s, approachRate: -1.866804 m/s, LOS rate: 2.743600 deg/s, posRepo size: 4
2021-08-14T01:01:03.422Z,1628902863.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.479996 m,
      bearing: 84.090352 deg,
      approachRate: -1.866804 m/s,
      LOS rate: 2.743600 deg/s,
      cmd update: 8.230801 deg/s,
      cmd heading: 16.431322 deg,
      new cmd heading: 17.594514 deg.

2021-08-14T01:01:05.814Z,1628902865.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:01:06.165Z,1628902866.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:01:06.165Z,1628902866.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:01:06.166Z,1628902866.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:01:06.167Z,1628902866.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:01:06.565Z,1628902866.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00567,184,80,80,6A,FF
2021-08-14T01:01:06.565Z,1628902866.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:01:06.565Z,1628902866.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:01:06.567Z,1628902866.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:01:06.993Z,1628902866.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:01:07.382Z,1628902867.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005FF,189,80,80,B6,FF
2021-08-14T01:01:07.383Z,1628902867.383 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:01:07.838Z,1628902867.838 [Micromodem](INFO): Nmea in: $SNTTA,0.407140,,,,010107.61*46

2021-08-14T01:01:07.864Z,1628902867.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.599998 m, bearing: 5.076309 deg, deltaT: 4.375938 s, approachRate: 2.084125 m/s, LOS rate: -18.056483 deg/s, posRepo size: 4
2021-08-14T01:01:07.865Z,1628902867.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.056483 deg/s. Setting heading cmd to target bearing of 5.076309deg and heading rate command to 0 deg/s.
2021-08-14T01:01:10.223Z,1628902870.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:01:10.613Z,1628902870.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:01:10.613Z,1628902870.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:01:10.613Z,1628902870.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:01:10.614Z,1628902870.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:01:11.016Z,1628902871.016 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005FF,189,80,80,B6,FF
2021-08-14T01:01:11.016Z,1628902871.016 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:01:11.017Z,1628902871.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:01:11.018Z,1628902871.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:01:11.424Z,1628902871.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:01:11.841Z,1628902871.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005F4,188,80,80,7F,FF
2021-08-14T01:01:11.842Z,1628902871.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:01:12.257Z,1628902872.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010112.06*5B

2021-08-14T01:01:12.287Z,1628902872.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 350.953752 deg, deltaT: 4.495385 s, approachRate: -0.146818 m/s, LOS rate: -3.141567 deg/s, posRepo size: 4
2021-08-14T01:01:12.289Z,1628902872.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.939995 m,
      bearing: 350.953752 deg,
      approachRate: -0.146818 m/s,
      LOS rate: -3.141567 deg/s,
      cmd update: -9.424701 deg/s,
      cmd heading: 5.076309 deg,
      new cmd heading: 5.076309 deg.

2021-08-14T01:01:14.683Z,1628902874.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:01:15.057Z,1628902875.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:01:15.057Z,1628902875.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:01:15.057Z,1628902875.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:01:15.058Z,1628902875.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:01:15.450Z,1628902875.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005F4,188,80,80,7F,FF
2021-08-14T01:01:15.450Z,1628902875.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:01:15.450Z,1628902875.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:01:15.451Z,1628902875.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:01:15.861Z,1628902875.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:01:16.266Z,1628902876.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005DF,189,80,80,90,FF
2021-08-14T01:01:16.266Z,1628902876.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:01:16.689Z,1628902876.689 [Micromodem](INFO): Nmea in: $SNTTA,0.046425,0.370425,,,010116.50*5A

2021-08-14T01:01:16.711Z,1628902876.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.680004 m, bearing: 340.313629 deg, deltaT: 4.372112 s, approachRate: -0.288188 m/s, LOS rate: -2.433635 deg/s, posRepo size: 4
2021-08-14T01:01:16.714Z,1628902876.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.680004 m,
      bearing: 340.313629 deg,
      approachRate: -0.288188 m/s,
      LOS rate: -2.433635 deg/s,
      cmd update: -7.300904 deg/s,
      cmd heading: 323.870016 deg,
      new cmd heading: 319.873444 deg.

2021-08-14T01:01:19.161Z,1628902879.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:01:19.499Z,1628902879.499 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:01:19.499Z,1628902879.499 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:01:19.499Z,1628902879.499 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:01:19.500Z,1628902879.500 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:01:19.897Z,1628902879.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005DF,189,80,80,90,FF
2021-08-14T01:01:19.897Z,1628902879.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:01:19.897Z,1628902879.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:01:19.899Z,1628902879.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:01:20.304Z,1628902880.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:01:20.709Z,1628902880.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,454,000,005C8,18A,80,80,6D,FF
2021-08-14T01:01:20.710Z,1628902880.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:01:21.141Z,1628902881.141 [Micromodem](INFO): Nmea in: $SNTTA,0.053963,,,,010120.94*45

2021-08-14T01:01:21.219Z,1628902881.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.299995 m, bearing: 332.913365 deg, deltaT: 4.439036 s, approachRate: -0.310880 m/s, LOS rate: -1.667088 deg/s, posRepo size: 4
2021-08-14T01:01:21.225Z,1628902881.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.299995 m,
      bearing: 332.913365 deg,
      approachRate: -0.310880 m/s,
      LOS rate: -1.667088 deg/s,
      cmd update: -5.001264 deg/s,
      cmd heading: 291.461203 deg,
      new cmd heading: 287.864048 deg.

2021-08-14T01:01:23.554Z,1628902883.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:01:23.941Z,1628902883.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:01:23.942Z,1628902883.942 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:01:23.942Z,1628902883.942 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:01:23.943Z,1628902883.943 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:01:24.341Z,1628902884.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
454,000,005C8,18A,80,80,6D,FF
2021-08-14T01:01:24.341Z,1628902884.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:01:24.341Z,1628902884.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:01:24.343Z,1628902884.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:01:24.749Z,1628902884.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:01:25.163Z,1628902885.163 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FA,000,005A7,188,80,80,C1,FF
2021-08-14T01:01:25.165Z,1628902885.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:01:25.589Z,1628902885.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010125.39*53

2021-08-14T01:01:25.633Z,1628902885.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.320000 m, bearing: 335.171781 deg, deltaT: 4.531862 s, approachRate: -0.436906 m/s, LOS rate: 0.498342 deg/s, posRepo size: 4
2021-08-14T01:01:25.635Z,1628902885.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.320000 m,
      bearing: 335.171781 deg,
      approachRate: -0.436906 m/s,
      LOS rate: 0.498342 deg/s,
      cmd update: 1.495025 deg/s,
      cmd heading: 268.816278 deg,
      new cmd heading: 266.922539 deg.

2021-08-14T01:01:28.027Z,1628902888.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:01:28.381Z,1628902888.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:01:28.382Z,1628902888.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:01:28.382Z,1628902888.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:01:28.382Z,1628902888.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:01:28.799Z,1628902888.799 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FA,000,005A7,188,80,80,C1,FF
2021-08-14T01:01:28.799Z,1628902888.799 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:01:28.799Z,1628902888.799 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:01:28.810Z,1628902888.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:01:29.201Z,1628902889.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:01:29.629Z,1628902889.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,00579,186,80,80,5A,FF
2021-08-14T01:01:29.630Z,1628902889.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:01:30.025Z,1628902890.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010129.85*58

2021-08-14T01:01:30.075Z,1628902890.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.560001 m, bearing: 335.262294 deg, deltaT: 4.393396 s, approachRate: -0.628215 m/s, LOS rate: 0.020602 deg/s, posRepo size: 4
2021-08-14T01:01:30.082Z,1628902890.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.560001 m,
      bearing: 335.262294 deg,
      approachRate: -0.628215 m/s,
      LOS rate: 0.020602 deg/s,
      cmd update: 0.061807 deg/s,
      cmd heading: 275.390445 deg,
      new cmd heading: 276.024323 deg.

2021-08-14T01:01:32.446Z,1628902892.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:01:32.835Z,1628902892.835 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:01:32.836Z,1628902892.836 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:01:32.837Z,1628902892.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:01:32.838Z,1628902892.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:01:33.238Z,1628902893.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,00579,186,80,80,5A,FF
2021-08-14T01:01:33.238Z,1628902893.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:01:33.238Z,1628902893.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:01:33.240Z,1628902893.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:01:33.641Z,1628902893.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:01:34.046Z,1628902894.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,00549,187,80,80,94,FF
2021-08-14T01:01:34.046Z,1628902894.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:01:34.473Z,1628902894.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010134.28*53

2021-08-14T01:01:34.495Z,1628902894.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.680000 m, bearing: 330.274972 deg, deltaT: 4.460402 s, approachRate: -0.645682 m/s, LOS rate: -1.118133 deg/s, posRepo size: 4
2021-08-14T01:01:34.498Z,1628902894.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.680000 m,
      bearing: 330.274972 deg,
      approachRate: -0.645682 m/s,
      LOS rate: -1.118133 deg/s,
      cmd update: -3.354399 deg/s,
      cmd heading: 275.665628 deg,
      new cmd heading: 275.689840 deg.

2021-08-14T01:01:36.949Z,1628902896.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:01:37.269Z,1628902897.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:01:37.269Z,1628902897.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:01:37.269Z,1628902897.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:01:37.270Z,1628902897.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:01:37.681Z,1628902897.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,00549,187,80,80,94,FF
2021-08-14T01:01:37.681Z,1628902897.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:01:37.681Z,1628902897.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:01:37.683Z,1628902897.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:01:38.093Z,1628902898.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:01:38.485Z,1628902898.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00516,186,80,80,73,FF
2021-08-14T01:01:38.485Z,1628902898.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:01:38.998Z,1628902898.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.620003 m, bearing: 330.387506 deg, deltaT: 4.390450 s, approachRate: -0.696967 m/s, LOS rate: 0.025632 deg/s, posRepo size: 4
2021-08-14T01:01:39.004Z,1628902899.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.620003 m,
      bearing: 330.387506 deg,
      approachRate: -0.696967 m/s,
      LOS rate: 0.025632 deg/s,
      cmd update: 0.076895 deg/s,
      cmd heading: 260.911077 deg,
      new cmd heading: 259.247436 deg.

2021-08-14T01:01:41.009Z,1628902901.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:01:41.309Z,1628902901.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:01:41.309Z,1628902901.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:01:41.309Z,1628902901.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:01:41.310Z,1628902901.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:01:41.717Z,1628902901.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,00516,186,80,80,73,FF
2021-08-14T01:01:41.717Z,1628902901.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:01:41.717Z,1628902901.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:01:41.719Z,1628902901.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:01:42.131Z,1628902902.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:01:42.545Z,1628902902.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D69,000,004F0,189,80,80,83,FF
2021-08-14T01:01:42.545Z,1628902902.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:01:42.548Z,1628902902.548 [PowerOnly](INFO): Powering down loadControl
2021-08-14T01:01:42.978Z,1628902902.978 [Micromodem](INFO): Nmea in: $SNTTA,0.050014,,,,010142.77*46

2021-08-14T01:01:43.043Z,1628902903.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.340000 m, bearing: 339.485564 deg, deltaT: 4.059990 s, approachRate: -0.561578 m/s, LOS rate: 2.240907 deg/s, posRepo size: 4
2021-08-14T01:01:43.045Z,1628902903.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.340000 m,
      bearing: 339.485564 deg,
      approachRate: -0.561578 m/s,
      LOS rate: 2.240907 deg/s,
      cmd update: 6.722720 deg/s,
      cmd heading: 261.223272 deg,
      new cmd heading: 261.260198 deg.

2021-08-14T01:01:43.402Z,1628902903.402 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:01:43.402Z,1628902903.402 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:01:43.402Z,1628902903.402 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:01:43.403Z,1628902903.403 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:01:43.403Z,1628902903.403 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:01:43.403Z,1628902903.403 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:01:43.805Z,1628902903.805 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:01:43.806Z,1628902903.806 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:01:43.806Z,1628902903.806 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:01:43.806Z,1628902903.806 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:01:45.408Z,1628902905.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:01:45.775Z,1628902905.775 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:01:45.776Z,1628902905.776 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:01:45.777Z,1628902905.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:01:45.778Z,1628902905.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:01:46.165Z,1628902906.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D69,000,004F0,189,80,80,83,FF
2021-08-14T01:01:46.166Z,1628902906.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:01:46.166Z,1628902906.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:01:46.167Z,1628902906.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:01:46.576Z,1628902906.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:01:46.978Z,1628902906.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6D,000,004C6,189,80,80,7C,FF
2021-08-14T01:01:46.978Z,1628902906.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:01:47.052Z,1628902907.052 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:01:47.413Z,1628902907.413 [Micromodem](INFO): Nmea in: $SNTTA,0.036050,,,,010147.21*40

2021-08-14T01:01:47.435Z,1628902907.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.820000 m, bearing: 334.398603 deg, deltaT: 4.487092 s, approachRate: -0.561611 m/s, LOS rate: -1.133688 deg/s, posRepo size: 4
2021-08-14T01:01:47.457Z,1628902907.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.820000 m,
      bearing: 334.398603 deg,
      approachRate: -0.561611 m/s,
      LOS rate: -1.133688 deg/s,
      cmd update: -3.401063 deg/s,
      cmd heading: 291.331247 deg,
      new cmd heading: 293.982163 deg.

2021-08-14T01:01:49.881Z,1628902909.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:01:50.197Z,1628902910.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:01:50.197Z,1628902910.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:01:50.197Z,1628902910.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:01:50.198Z,1628902910.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:01:50.618Z,1628902910.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6D,000,004C6,189,80,80,7C,FF
2021-08-14T01:01:50.618Z,1628902910.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:01:50.619Z,1628902910.619 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:01:50.629Z,1628902910.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:01:51.013Z,1628902911.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:01:51.430Z,1628902911.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BF0,000,004A4,189,80,80,A9,FF
2021-08-14T01:01:51.431Z,1628902911.431 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:01:51.486Z,1628902911.486 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:01:51.861Z,1628902911.861 [Micromodem](INFO): Nmea in: $SNTTA,0.432968,,,,010151.67*47

2021-08-14T01:01:51.899Z,1628902911.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.779999 m, bearing: 333.422596 deg, deltaT: 4.433620 s, approachRate: -0.460121 m/s, LOS rate: -0.220138 deg/s, posRepo size: 4
2021-08-14T01:01:51.901Z,1628902911.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.779999 m,
      bearing: 333.422596 deg,
      approachRate: -0.460121 m/s,
      LOS rate: -0.220138 deg/s,
      cmd update: -0.660413 deg/s,
      cmd heading: 276.238104 deg,
      new cmd heading: 274.809508 deg.

2021-08-14T01:01:54.266Z,1628902914.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:01:54.662Z,1628902914.662 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:01:54.662Z,1628902914.662 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:01:54.663Z,1628902914.663 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:01:54.663Z,1628902914.663 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:01:55.049Z,1628902915.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BF0,000,004A4,189,80,80,A9,FF
2021-08-14T01:01:55.049Z,1628902915.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:01:55.049Z,1628902915.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:01:55.051Z,1628902915.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:01:55.463Z,1628902915.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:01:55.857Z,1628902915.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B77,000,00486,18A,80,80,86,FF
2021-08-14T01:01:55.858Z,1628902915.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:01:55.911Z,1628902915.911 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:01:56.302Z,1628902916.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010156.10*5C

2021-08-14T01:01:56.349Z,1628902916.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.979998 m, bearing: 340.548014 deg, deltaT: 4.425313 s, approachRate: -0.406751 m/s, LOS rate: 1.610150 deg/s, posRepo size: 4
2021-08-14T01:01:56.351Z,1628902916.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.979998 m,
      bearing: 340.548014 deg,
      approachRate: -0.406751 m/s,
      LOS rate: 1.610150 deg/s,
      cmd update: 4.830450 deg/s,
      cmd heading: 273.312902 deg,
      new cmd heading: 273.021313 deg.

2021-08-14T01:01:58.735Z,1628902918.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:01:59.089Z,1628902919.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:01:59.089Z,1628902919.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:01:59.089Z,1628902919.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:01:59.090Z,1628902919.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:01:59.503Z,1628902919.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B77,000,00486,18A,80,80,86,FF
2021-08-14T01:01:59.503Z,1628902919.503 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:01:59.503Z,1628902919.503 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:01:59.507Z,1628902919.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:01:59.909Z,1628902919.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:02:00.301Z,1628902920.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26F,000,00473,189,80,80,99,FF
2021-08-14T01:02:00.302Z,1628902920.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:02:00.371Z,1628902920.371 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:02:00.741Z,1628902920.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010200.56*5E

2021-08-14T01:02:00.806Z,1628902920.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.839998 m, bearing: 247.783035 deg, deltaT: 4.464865 s, approachRate: -0.255327 m/s, LOS rate: -20.776659 deg/s, posRepo size: 4
2021-08-14T01:02:00.807Z,1628902920.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.776659 deg/s. Setting heading cmd to target bearing of 247.783035deg and heading rate command to 0 deg/s.
2021-08-14T01:02:03.211Z,1628902923.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:02:03.533Z,1628902923.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:02:03.533Z,1628902923.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:02:03.533Z,1628902923.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:02:03.534Z,1628902923.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:02:03.941Z,1628902923.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26F,000,00473,189,80,80,99,FF
2021-08-14T01:02:03.941Z,1628902923.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:02:03.941Z,1628902923.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:02:03.943Z,1628902923.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:02:04.357Z,1628902924.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:02:04.745Z,1628902924.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0045E,189,80,80,80,FF
2021-08-14T01:02:04.746Z,1628902924.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:02:04.823Z,1628902924.823 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:02:05.208Z,1628902925.208 [Micromodem](INFO): Nmea in: $SNTTA,0.035535,,,,010204.99*42

2021-08-14T01:02:05.287Z,1628902925.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 354.198119 deg, deltaT: 4.446850 s, approachRate: -0.283346 m/s, LOS rate: 23.930442 deg/s, posRepo size: 4
2021-08-14T01:02:05.287Z,1628902925.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.930442 deg/s. Setting heading cmd to target bearing of 354.198119deg and heading rate command to 0 deg/s.
2021-08-14T01:02:07.614Z,1628902927.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:02:07.981Z,1628902927.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:02:07.981Z,1628902927.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:02:07.981Z,1628902927.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:02:07.982Z,1628902927.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:02:08.378Z,1628902928.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0045E,189,80,80,80,FF
2021-08-14T01:02:08.378Z,1628902928.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:02:08.378Z,1628902928.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:02:08.381Z,1628902928.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:02:08.815Z,1628902928.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:02:09.617Z,1628902929.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010209.42*52

2021-08-14T01:02:10.409Z,1628902930.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,275,000,03B6A,189,80,80,68,FF
2021-08-14T01:02:10.410Z,1628902930.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:02:10.453Z,1628902930.453 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:02:10.930Z,1628902930.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 875.100037 m, bearing: 258.709999 deg, deltaT: 5.630195 s, approachRate: 150.175980 m/s, LOS rate: -16.960002 deg/s, posRepo size: 4
2021-08-14T01:02:10.931Z,1628902930.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.960002 deg/s. Setting heading cmd to target bearing of 258.709999deg and heading rate command to 0 deg/s.
2021-08-14T01:02:11.279Z,1628902931.279 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:02:11.279Z,1628902931.279 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:02:11.280Z,1628902931.280 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:02:11.280Z,1628902931.280 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:02:11.281Z,1628902931.281 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:02:11.281Z,1628902931.281 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:02:11.648Z,1628902931.648 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:02:11.648Z,1628902931.648 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:02:11.648Z,1628902931.648 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:02:11.648Z,1628902931.648 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:02:13.280Z,1628902933.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:02:13.633Z,1628902933.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:02:13.633Z,1628902933.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:02:13.633Z,1628902933.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:02:13.634Z,1628902933.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:02:14.041Z,1628902934.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
275,000,03B6A,189,80,80,68,FF
2021-08-14T01:02:14.041Z,1628902934.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:02:14.041Z,1628902934.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:02:14.043Z,1628902934.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:02:14.453Z,1628902934.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:02:14.861Z,1628902934.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC3,000,00435,189,80,80,B6,FF
2021-08-14T01:02:14.862Z,1628902934.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:02:15.297Z,1628902935.297 [Micromodem](INFO): Nmea in: $SNTTA,0.035917,,,,010215.09*47

2021-08-14T01:02:15.336Z,1628902935.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.119997 m, bearing: 312.015991 deg, deltaT: 4.552062 s, approachRate: -186.284821 m/s, LOS rate: 11.710296 deg/s, posRepo size: 4
2021-08-14T01:02:15.337Z,1628902935.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.710296 deg/s. Setting heading cmd to target bearing of 312.015991deg and heading rate command to 0 deg/s.
2021-08-14T01:02:15.694Z,1628902935.694 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:02:15.695Z,1628902935.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:02:15.695Z,1628902935.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:02:15.695Z,1628902935.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:02:15.695Z,1628902935.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:02:15.696Z,1628902935.696 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:02:16.102Z,1628902936.102 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:02:16.102Z,1628902936.102 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:02:16.102Z,1628902936.102 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:02:16.102Z,1628902936.102 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:02:17.709Z,1628902937.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:02:18.085Z,1628902938.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:02:18.085Z,1628902938.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:02:18.085Z,1628902938.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:02:18.086Z,1628902938.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:02:18.493Z,1628902938.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC3,000,00435,189,80,80,B6,FF
2021-08-14T01:02:18.493Z,1628902938.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:02:18.493Z,1628902938.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:02:18.495Z,1628902938.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:02:18.933Z,1628902938.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:02:19.301Z,1628902939.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCC,000,0042C,188,80,80,98,FF
2021-08-14T01:02:19.302Z,1628902939.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:02:19.322Z,1628902939.322 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:02:19.735Z,1628902939.735 [Micromodem](INFO): Nmea in: $SNTTA,0.043682,,,,010219.54*41

2021-08-14T01:02:19.807Z,1628902939.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 333.863991 deg, deltaT: 4.316492 s, approachRate: -0.125100 m/s, LOS rate: 5.061517 deg/s, posRepo size: 4
2021-08-14T01:02:19.815Z,1628902939.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.580002 m,
      bearing: 333.863991 deg,
      approachRate: -0.125100 m/s,
      LOS rate: 5.061517 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 312.015991 deg,
      new cmd heading: 312.015991 deg.

2021-08-14T01:02:22.161Z,1628902942.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:02:22.529Z,1628902942.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:02:22.529Z,1628902942.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:02:22.529Z,1628902942.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:02:22.530Z,1628902942.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:02:22.941Z,1628902942.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCC,000,0042C,188,80,80,98,FF
2021-08-14T01:02:22.941Z,1628902942.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:02:22.941Z,1628902942.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:02:22.943Z,1628902942.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:02:23.348Z,1628902943.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:02:23.741Z,1628902943.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFC,000,00429,187,80,80,63,FF
2021-08-14T01:02:23.741Z,1628902943.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:02:23.817Z,1628902943.817 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:02:24.189Z,1628902944.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010223.99*5C

2021-08-14T01:02:24.218Z,1628902944.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.399998 m, bearing: 311.306963 deg, deltaT: 4.495137 s, approachRate: -0.040044 m/s, LOS rate: -5.018096 deg/s, posRepo size: 4
2021-08-14T01:02:24.219Z,1628902944.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.399998 m,
      bearing: 311.306963 deg,
      approachRate: -0.040044 m/s,
      LOS rate: -5.018096 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 5.909230 deg,
      new cmd heading: 10.804498 deg.

2021-08-14T01:02:26.586Z,1628902946.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:02:26.977Z,1628902946.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:02:26.978Z,1628902946.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:02:26.978Z,1628902946.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:02:26.979Z,1628902946.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:02:27.378Z,1628902947.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFC,000,00429,187,80,80,63,FF
2021-08-14T01:02:27.378Z,1628902947.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:02:27.378Z,1628902947.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:02:27.381Z,1628902947.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:02:27.794Z,1628902947.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:02:28.185Z,1628902948.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2F,000,0042A,189,80,80,92,FF
2021-08-14T01:02:28.186Z,1628902948.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:02:28.235Z,1628902948.235 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:02:28.621Z,1628902948.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010228.42*51

2021-08-14T01:02:28.643Z,1628902948.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 333.580347 deg, deltaT: 4.417969 s, approachRate: 0.013582 m/s, LOS rate: 5.041544 deg/s, posRepo size: 4
2021-08-14T01:02:28.669Z,1628902948.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.460001 m,
      bearing: 333.580347 deg,
      approachRate: 0.013582 m/s,
      LOS rate: 5.041544 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 312.893804 deg,
      new cmd heading: 307.906352 deg.

2021-08-14T01:02:31.087Z,1628902951.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:02:31.425Z,1628902951.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:02:31.425Z,1628902951.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:02:31.426Z,1628902951.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:02:31.426Z,1628902951.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:02:31.829Z,1628902951.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2F,000,0042A,189,80,80,92,FF
2021-08-14T01:02:31.829Z,1628902951.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:02:31.829Z,1628902951.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:02:31.831Z,1628902951.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:02:32.229Z,1628902952.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:02:32.641Z,1628902952.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CBD,000,00423,189,80,80,A3,FF
2021-08-14T01:02:32.641Z,1628902952.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:02:32.694Z,1628902952.694 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:02:33.078Z,1628902953.078 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010232.88*5C

2021-08-14T01:02:33.152Z,1628902953.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 353.423030 deg, deltaT: 4.459581 s, approachRate: -0.094180 m/s, LOS rate: 4.449450 deg/s, posRepo size: 4
2021-08-14T01:02:33.154Z,1628902953.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.039999 m,
      bearing: 353.423030 deg,
      approachRate: -0.094180 m/s,
      LOS rate: 4.449450 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 6.408081 deg,
      new cmd heading: 11.934693 deg.

2021-08-14T01:02:35.491Z,1628902955.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:02:35.865Z,1628902955.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:02:35.865Z,1628902955.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:02:35.865Z,1628902955.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:02:35.866Z,1628902955.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:02:36.265Z,1628902956.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBD,000,00423,189,80,80,A3,FF
2021-08-14T01:02:36.265Z,1628902956.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:02:36.265Z,1628902956.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:02:36.267Z,1628902956.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:02:36.672Z,1628902956.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:02:37.080Z,1628902957.080 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00415,189,80,80,9E,FF
2021-08-14T01:02:37.080Z,1628902957.080 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:02:37.166Z,1628902957.166 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:02:37.513Z,1628902957.513 [Micromodem](INFO): Nmea in: $SNTTA,0.063894,,,,010237.31*45

2021-08-14T01:02:37.543Z,1628902957.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 35.555103 deg, deltaT: 4.471548 s, approachRate: -0.187854 m/s, LOS rate: 9.422255 deg/s, posRepo size: 4
2021-08-14T01:02:37.544Z,1628902957.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 25.20 m.
2021-08-14T01:02:37.546Z,1628902957.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.199999 m,
      bearing: 35.555103 deg,
      approachRate: -0.187854 m/s,
      LOS rate: 9.422255 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 60.015083 deg,
      new cmd heading: 64.684115 deg.

2021-08-14T01:02:39.929Z,1628902959.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:02:40.320Z,1628902960.320 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:02:40.321Z,1628902960.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:02:40.321Z,1628902960.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:02:40.322Z,1628902960.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:02:40.721Z,1628902960.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00415,189,80,80,9E,FF
2021-08-14T01:02:40.721Z,1628902960.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:02:40.721Z,1628902960.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:02:40.723Z,1628902960.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:02:41.131Z,1628902961.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:02:41.517Z,1628902961.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C82,000,00407,189,80,80,74,FF
2021-08-14T01:02:41.518Z,1628902961.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:02:41.570Z,1628902961.570 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:02:41.962Z,1628902961.962 [Micromodem](INFO): Nmea in: $SNTTA,0.037510,,,,010241.77*46

2021-08-14T01:02:41.991Z,1628902961.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.359999 m, bearing: 35.729382 deg, deltaT: 4.404511 s, approachRate: -0.190714 m/s, LOS rate: 0.039568 deg/s, posRepo size: 4
2021-08-14T01:02:41.994Z,1628902961.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.359999 m,
      bearing: 35.729382 deg,
      approachRate: -0.190714 m/s,
      LOS rate: 0.039568 deg/s,
      cmd update: 0.118705 deg/s,
      cmd heading: 112.921356 deg,
      new cmd heading: 118.059949 deg.

2021-08-14T01:02:44.392Z,1628902964.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:02:44.752Z,1628902964.752 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:02:44.752Z,1628902964.752 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:02:44.753Z,1628902964.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:02:44.754Z,1628902964.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:02:45.159Z,1628902965.159 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C82,000,00407,189,80,80,74,FF
2021-08-14T01:02:45.159Z,1628902965.159 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:02:45.159Z,1628902965.159 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:02:45.161Z,1628902965.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:02:45.565Z,1628902965.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:02:45.969Z,1628902965.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9F,000,003E1,189,80,80,B5,FF
2021-08-14T01:02:45.969Z,1628902965.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:02:46.023Z,1628902966.023 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:02:46.425Z,1628902966.425 [Micromodem](INFO): Nmea in: $SNTTA,0.060819,,,,010246.20*45

2021-08-14T01:02:46.443Z,1628902966.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 37.865585 deg, deltaT: 4.453113 s, approachRate: -0.512002 m/s, LOS rate: 0.479710 deg/s, posRepo size: 4
2021-08-14T01:02:46.444Z,1628902966.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 22.08 m.
2021-08-14T01:02:46.446Z,1628902966.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 37.865585 deg,
      approachRate: -0.512002 m/s,
      LOS rate: 0.479710 deg/s,
      cmd update: 1.439130 deg/s,
      cmd heading: 113.450419 deg,
      new cmd heading: 113.500661 deg.

2021-08-14T01:02:48.907Z,1628902968.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:02:49.193Z,1628902969.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:02:49.193Z,1628902969.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:02:49.193Z,1628902969.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:02:49.194Z,1628902969.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:02:49.597Z,1628902969.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9F,000,003E1,189,80,80,B5,FF
2021-08-14T01:02:49.597Z,1628902969.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:02:49.597Z,1628902969.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:02:49.599Z,1628902969.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:02:50.017Z,1628902970.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:02:50.425Z,1628902970.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,003C4,186,80,80,7E,FF
2021-08-14T01:02:50.425Z,1628902970.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:02:50.444Z,1628902970.444 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:02:50.885Z,1628902970.885 [Micromodem](INFO): Nmea in: $SNTTA,,0.196051,,,010250.65*4F

2021-08-14T01:02:50.957Z,1628902970.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 41.480938 deg, deltaT: 4.421026 s, approachRate: -0.393574 m/s, LOS rate: 0.817763 deg/s, posRepo size: 4
2021-08-14T01:02:50.959Z,1628902970.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.339998 m,
      bearing: 41.480938 deg,
      approachRate: -0.393574 m/s,
      LOS rate: 0.817763 deg/s,
      cmd update: 2.453290 deg/s,
      cmd heading: 119.812418 deg,
      new cmd heading: 120.554904 deg.

2021-08-14T01:02:53.298Z,1628902973.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:02:53.637Z,1628902973.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:02:53.637Z,1628902973.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:02:53.637Z,1628902973.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:02:53.638Z,1628902973.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:02:54.049Z,1628902974.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,003C4,186,80,80,7E,FF
2021-08-14T01:02:54.049Z,1628902974.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:02:54.049Z,1628902974.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:02:54.051Z,1628902974.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:02:54.457Z,1628902974.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:02:54.859Z,1628902974.859 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,00395,187,80,80,AA,FF
2021-08-14T01:02:54.864Z,1628902974.864 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:02:54.992Z,1628902974.992 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:02:55.273Z,1628902975.273 [Micromodem](INFO): Nmea in: $SNTTA,0.343466,0.343841,,,010255.09*5D

2021-08-14T01:02:55.295Z,1628902975.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.520002 m, bearing: 50.759145 deg, deltaT: 4.547641 s, approachRate: -0.620101 m/s, LOS rate: 2.040224 deg/s, posRepo size: 4
2021-08-14T01:02:55.297Z,1628902975.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.520002 m,
      bearing: 50.759145 deg,
      approachRate: -0.620101 m/s,
      LOS rate: 2.040224 deg/s,
      cmd update: 6.120673 deg/s,
      cmd heading: 130.969336 deg,
      new cmd heading: 131.721495 deg.

2021-08-14T01:02:57.706Z,1628902977.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:02:58.094Z,1628902978.094 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:02:58.094Z,1628902978.094 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:02:58.094Z,1628902978.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:02:58.095Z,1628902978.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:02:58.489Z,1628902978.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9A,000,00395,187,80,80,AA,FF
2021-08-14T01:02:58.489Z,1628902978.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:02:58.489Z,1628902978.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:02:58.491Z,1628902978.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:02:58.933Z,1628902978.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:02:59.293Z,1628902979.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,00381,186,80,80,93,FF
2021-08-14T01:02:59.293Z,1628902979.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:02:59.313Z,1628902979.313 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:02:59.760Z,1628902979.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010259.53*57

2021-08-14T01:02:59.810Z,1628902979.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.319998 m, bearing: 56.237715 deg, deltaT: 4.321419 s, approachRate: -0.277688 m/s, LOS rate: 1.267771 deg/s, posRepo size: 4
2021-08-14T01:02:59.812Z,1628902979.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.319998 m,
      bearing: 56.237715 deg,
      approachRate: -0.277688 m/s,
      LOS rate: 1.267771 deg/s,
      cmd update: 3.803313 deg/s,
      cmd heading: 157.421787 deg,
      new cmd heading: 160.478573 deg.

2021-08-14T01:03:02.175Z,1628902982.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:03:02.525Z,1628902982.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:03:02.525Z,1628902982.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:03:02.525Z,1628902982.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:03:02.526Z,1628902982.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:03:02.945Z,1628902982.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,00381,186,80,80,93,FF
2021-08-14T01:03:02.945Z,1628902982.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:03:02.946Z,1628902982.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:03:02.949Z,1628902982.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:03:03.334Z,1628902983.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:03:03.738Z,1628902983.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,0033F,189,80,80,B9,FF
2021-08-14T01:03:03.739Z,1628902983.739 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:03:03.809Z,1628902983.809 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:03:04.173Z,1628902984.173 [Micromodem](INFO): Nmea in: $SNTTA,0.057602,,,,010303.99*47

2021-08-14T01:03:04.215Z,1628902984.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 49.586504 deg, deltaT: 4.495614 s, approachRate: -0.880858 m/s, LOS rate: -1.479489 deg/s, posRepo size: 4
2021-08-14T01:03:04.222Z,1628902984.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 49.586504 deg,
      approachRate: -0.880858 m/s,
      LOS rate: -1.479489 deg/s,
      cmd update: -4.438467 deg/s,
      cmd heading: 174.504307 deg,
      new cmd heading: 176.077319 deg.

2021-08-14T01:03:06.587Z,1628902986.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:03:06.974Z,1628902986.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:03:06.974Z,1628902986.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:03:06.974Z,1628902986.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:03:06.975Z,1628902986.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:03:07.370Z,1628902987.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,0033F,189,80,80,B9,FF
2021-08-14T01:03:07.370Z,1628902987.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:03:07.370Z,1628902987.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:03:07.373Z,1628902987.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:03:07.814Z,1628902987.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:03:08.181Z,1628902988.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00321,189,80,80,95,FF
2021-08-14T01:03:08.182Z,1628902988.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:03:08.256Z,1628902988.256 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:03:08.622Z,1628902988.622 [Micromodem](INFO): Nmea in: $SNTTA,0.057580,,,,010308.42*43

2021-08-14T01:03:08.671Z,1628902988.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.559999 m, bearing: 32.872229 deg, deltaT: 4.447020 s, approachRate: -0.404766 m/s, LOS rate: -3.758534 deg/s, posRepo size: 4
2021-08-14T01:03:08.673Z,1628902988.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 32.872229 deg,
      approachRate: -0.404766 m/s,
      LOS rate: -3.758534 deg/s,
      cmd update: -11.275602 deg/s,
      cmd heading: 154.749185 deg,
      new cmd heading: 152.894625 deg.

2021-08-14T01:03:11.112Z,1628902991.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:03:11.429Z,1628902991.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:03:11.429Z,1628902991.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:03:11.429Z,1628902991.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:03:11.430Z,1628902991.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:03:11.829Z,1628902991.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00321,189,80,80,95,FF
2021-08-14T01:03:11.829Z,1628902991.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:03:11.829Z,1628902991.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:03:11.831Z,1628902991.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:03:12.225Z,1628902992.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:03:13.042Z,1628902993.042 [Micromodem](INFO): Nmea in: $SNTTA,0.023754,,,,010312.88*46

2021-08-14T01:03:13.089Z,1628902993.089 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T01:03:13.881Z,1628902993.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:03:15.469Z,1628902995.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,95,FF
2021-08-14T01:03:15.469Z,1628902995.469 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,95,FF
2021-08-14T01:03:15.469Z,1628902995.469 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:03:16.700Z,1628902996.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:03:17.073Z,1628902997.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:03:17.073Z,1628902997.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:03:17.073Z,1628902997.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:03:17.074Z,1628902997.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:03:17.482Z,1628902997.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,95,FF
2021-08-14T01:03:17.482Z,1628902997.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:03:17.482Z,1628902997.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:03:17.484Z,1628902997.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:03:17.884Z,1628902997.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:03:18.281Z,1628902998.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,00317,185,80,80,B3,FF
2021-08-14T01:03:18.282Z,1628902998.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:03:18.301Z,1628902998.301 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:03:18.717Z,1628902998.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010318.53*53

2021-08-14T01:03:18.796Z,1628902998.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.960000 m, bearing: 101.364249 deg, deltaT: 10.044911 s, approachRate: -0.059732 m/s, LOS rate: 6.818579 deg/s, posRepo size: 4
2021-08-14T01:03:18.798Z,1628902998.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.960000 m,
      bearing: 101.364249 deg,
      approachRate: -0.059732 m/s,
      LOS rate: 6.818579 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 41.484890 deg,
      new cmd heading: 35.913062 deg.

2021-08-14T01:03:21.174Z,1628903001.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:03:21.519Z,1628903001.519 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:03:21.519Z,1628903001.519 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:03:21.519Z,1628903001.519 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:03:21.520Z,1628903001.520 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:03:21.914Z,1628903001.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,00317,185,80,80,B3,FF
2021-08-14T01:03:21.914Z,1628903001.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:03:21.914Z,1628903001.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:03:21.915Z,1628903001.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:03:22.325Z,1628903002.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:03:22.725Z,1628903002.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BA,000,00336,186,80,80,AD,FF
2021-08-14T01:03:22.725Z,1628903002.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:03:22.754Z,1628903002.754 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:03:23.157Z,1628903003.157 [Micromodem](INFO): Nmea in: $SNTTA,,0.412520,,,010322.96*4D

2021-08-14T01:03:23.223Z,1628903003.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.820001 m, bearing: 82.599288 deg, deltaT: 4.453612 s, approachRate: 0.417639 m/s, LOS rate: -4.213425 deg/s, posRepo size: 4
2021-08-14T01:03:23.225Z,1628903003.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.820001 m,
      bearing: 82.599288 deg,
      approachRate: 0.417639 m/s,
      LOS rate: -4.213425 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 94.865416 deg,
      new cmd heading: 100.580992 deg.

2021-08-14T01:03:25.590Z,1628903005.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:03:25.957Z,1628903005.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:03:25.957Z,1628903005.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:03:25.957Z,1628903005.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:03:25.958Z,1628903005.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:03:26.366Z,1628903006.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BA,000,00336,186,80,80,AD,FF
2021-08-14T01:03:26.366Z,1628903006.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:03:26.366Z,1628903006.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:03:26.425Z,1628903006.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:03:26.496Z,1628903006.496 [CTD_Seabird](ERROR): Failed to parse device response: 6.27,23.858.50
2021-08-14T01:03:26.794Z,1628903006.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:03:27.173Z,1628903007.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CB,000,00338,186,80,80,B6,FF
2021-08-14T01:03:27.173Z,1628903007.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:03:27.177Z,1628903007.177 [Micromodem](INFO): Nmea in: $SNTTA,0.048913,0.115544,,,010327.47*5D

2021-08-14T01:03:27.251Z,1628903007.251 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:03:27.607Z,1628903007.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.940001 m, bearing: 66.802085 deg, deltaT: 4.500936 s, approachRate: 0.026661 m/s, LOS rate: -3.509760 deg/s, posRepo size: 4
2021-08-14T01:03:27.609Z,1628903007.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.940001 m,
      bearing: 66.802085 deg,
      approachRate: 0.026661 m/s,
      LOS rate: -3.509760 deg/s,
      cmd update: -10.529279 deg/s,
      cmd heading: 40.890782 deg,
      new cmd heading: 36.533618 deg.

2021-08-14T01:03:30.051Z,1628903010.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:03:30.409Z,1628903010.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:03:30.409Z,1628903010.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:03:30.409Z,1628903010.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:03:30.410Z,1628903010.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:03:30.833Z,1628903010.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CB,000,00338,186,80,80,B6,FF
2021-08-14T01:03:30.833Z,1628903010.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:03:30.834Z,1628903010.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:03:30.841Z,1628903010.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:03:31.221Z,1628903011.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:03:31.613Z,1628903011.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,00346,186,80,80,A3,FF
2021-08-14T01:03:31.614Z,1628903011.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:03:31.657Z,1628903011.657 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:03:32.042Z,1628903012.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010331.89*5F

2021-08-14T01:03:32.080Z,1628903012.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.779997 m, bearing: 53.976769 deg, deltaT: 4.401406 s, approachRate: 0.190847 m/s, LOS rate: -2.913913 deg/s, posRepo size: 4
2021-08-14T01:03:32.082Z,1628903012.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 53.976769 deg,
      approachRate: 0.190847 m/s,
      LOS rate: -2.913913 deg/s,
      cmd update: -8.741741 deg/s,
      cmd heading: 354.459410 deg,
      new cmd heading: 349.976759 deg.

2021-08-14T01:03:34.467Z,1628903014.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:03:34.855Z,1628903014.855 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:03:34.876Z,1628903014.876 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:03:34.877Z,1628903014.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:03:34.878Z,1628903014.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:03:35.245Z,1628903015.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,00346,186,80,80,A3,FF
2021-08-14T01:03:35.245Z,1628903015.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:03:35.246Z,1628903015.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:03:35.247Z,1628903015.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:03:35.657Z,1628903015.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:03:36.061Z,1628903016.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,00358,188,80,80,B3,FF
2021-08-14T01:03:36.061Z,1628903016.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:03:36.115Z,1628903016.115 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:03:36.493Z,1628903016.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010336.29*52

2021-08-14T01:03:36.522Z,1628903016.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.860000 m, bearing: 33.428028 deg, deltaT: 4.462603 s, approachRate: 0.242012 m/s, LOS rate: -4.604654 deg/s, posRepo size: 4
2021-08-14T01:03:36.525Z,1628903016.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 33.428028 deg,
      approachRate: 0.242012 m/s,
      LOS rate: -4.604654 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 315.485042 deg,
      new cmd heading: 311.899416 deg.

2021-08-14T01:03:38.997Z,1628903018.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:03:39.294Z,1628903019.294 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:03:39.294Z,1628903019.294 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:03:39.294Z,1628903019.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:03:39.295Z,1628903019.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:03:39.701Z,1628903019.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,00358,188,80,80,B3,FF
2021-08-14T01:03:39.701Z,1628903019.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:03:39.701Z,1628903019.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:03:39.703Z,1628903019.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:03:40.105Z,1628903020.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:03:40.498Z,1628903020.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,0035D,189,80,80,95,FF
2021-08-14T01:03:40.498Z,1628903020.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:03:40.543Z,1628903020.543 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:03:40.958Z,1628903020.958 [Micromodem](INFO): Nmea in: $SNTTA,0.033006,,,,010340.75*42

2021-08-14T01:03:41.033Z,1628903021.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.159999 m, bearing: 18.919815 deg, deltaT: 4.423390 s, approachRate: 0.067821 m/s, LOS rate: -3.279886 deg/s, posRepo size: 4
2021-08-14T01:03:41.035Z,1628903021.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 18.919815 deg,
      approachRate: 0.067821 m/s,
      LOS rate: -3.279886 deg/s,
      cmd update: -9.839657 deg/s,
      cmd heading: 262.403832 deg,
      new cmd heading: 256.488360 deg.

2021-08-14T01:03:43.351Z,1628903023.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:03:43.735Z,1628903023.735 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:03:43.735Z,1628903023.735 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:03:43.736Z,1628903023.736 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:03:43.737Z,1628903023.737 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:03:44.137Z,1628903024.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,0035D,189,80,80,95,FF
2021-08-14T01:03:44.137Z,1628903024.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:03:44.137Z,1628903024.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:03:44.139Z,1628903024.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:03:44.545Z,1628903024.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:03:44.955Z,1628903024.955 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,275,000,00362,189,80,80,5D,FF
2021-08-14T01:03:44.956Z,1628903024.956 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:03:44.978Z,1628903024.978 [Micromodem](INFO): Nmea in: $SNTTA,0.298069,0.297956,,,010345.18*5E

2021-08-14T01:03:45.048Z,1628903025.048 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:03:45.407Z,1628903025.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 0.997529 deg, deltaT: 4.504988 s, approachRate: 0.066593 m/s, LOS rate: -3.978321 deg/s, posRepo size: 4
2021-08-14T01:03:45.410Z,1628903025.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.459998 m,
      bearing: 0.997529 deg,
      approachRate: 0.066593 m/s,
      LOS rate: -3.978321 deg/s,
      cmd update: -11.934962 deg/s,
      cmd heading: 218.039279 deg,
      new cmd heading: 214.467100 deg.

2021-08-14T01:03:47.840Z,1628903027.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:03:48.177Z,1628903028.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:03:48.177Z,1628903028.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:03:48.177Z,1628903028.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:03:48.178Z,1628903028.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:03:48.581Z,1628903028.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
275,000,00362,189,80,80,5D,FF
2021-08-14T01:03:48.581Z,1628903028.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:03:48.581Z,1628903028.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:03:48.583Z,1628903028.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:03:48.986Z,1628903028.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:03:49.387Z,1628903029.387 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,00367,188,80,80,5F,FF
2021-08-14T01:03:49.389Z,1628903029.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:03:49.411Z,1628903029.411 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:03:49.853Z,1628903029.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010349.63*54

2021-08-14T01:03:49.878Z,1628903029.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.759997 m, bearing: 350.650109 deg, deltaT: 4.362781 s, approachRate: 0.068763 m/s, LOS rate: -2.371750 deg/s, posRepo size: 4
2021-08-14T01:03:49.881Z,1628903029.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 350.650109 deg,
      approachRate: 0.068763 m/s,
      LOS rate: -2.371750 deg/s,
      cmd update: -7.115251 deg/s,
      cmd heading: 165.964667 deg,
      new cmd heading: 160.347513 deg.

2021-08-14T01:03:52.262Z,1628903032.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:03:52.637Z,1628903032.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:03:52.637Z,1628903032.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:03:52.637Z,1628903032.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:03:52.638Z,1628903032.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:03:53.033Z,1628903033.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
212,000,00367,188,80,80,5F,FF
2021-08-14T01:03:53.034Z,1628903033.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:03:53.034Z,1628903033.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:03:53.035Z,1628903033.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:03:53.437Z,1628903033.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:03:53.837Z,1628903033.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,174,000,00371,185,80,80,73,FF
2021-08-14T01:03:53.838Z,1628903033.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:03:53.867Z,1628903033.867 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:03:54.277Z,1628903034.277 [Micromodem](INFO): Nmea in: $SNTTA,0.060082,,,,010354.08*47

2021-08-14T01:03:54.311Z,1628903034.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.359997 m, bearing: 0.066463 deg, deltaT: 4.456310 s, approachRate: 0.134640 m/s, LOS rate: 2.113040 deg/s, posRepo size: 4
2021-08-14T01:03:54.312Z,1628903034.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 15.36 m.
2021-08-14T01:03:54.314Z,1628903034.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.359997 m,
      bearing: 0.066463 deg,
      approachRate: 0.134640 m/s,
      LOS rate: 2.113040 deg/s,
      cmd update: 6.339121 deg/s,
      cmd heading: 134.256691 deg,
      new cmd heading: 131.074680 deg.

2021-08-14T01:03:56.691Z,1628903036.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:03:57.073Z,1628903037.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:03:57.074Z,1628903037.074 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:03:57.074Z,1628903037.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:03:57.075Z,1628903037.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:03:57.469Z,1628903037.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
174,000,00371,185,80,80,73,FF
2021-08-14T01:03:57.469Z,1628903037.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:03:57.469Z,1628903037.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:03:57.471Z,1628903037.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:03:57.881Z,1628903037.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:03:58.718Z,1628903038.718 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010358.52*56

2021-08-14T01:03:59.516Z,1628903039.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:01.105Z,1628903041.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,185,80,80,73,FF
2021-08-14T01:04:01.105Z,1628903041.105 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,185,80,80,73,FF
2021-08-14T01:04:01.105Z,1628903041.105 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:04:02.342Z,1628903042.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:02.728Z,1628903042.728 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:04:02.728Z,1628903042.728 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:04:02.728Z,1628903042.728 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:04:02.729Z,1628903042.729 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:04:03.141Z,1628903043.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,185,80,80,73,FF
2021-08-14T01:04:03.141Z,1628903043.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:04:03.141Z,1628903043.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:04:03.143Z,1628903043.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:04:03.532Z,1628903043.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:04:03.949Z,1628903043.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,003BC,187,80,80,97,FF
2021-08-14T01:04:03.950Z,1628903043.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:04:03.979Z,1628903043.979 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:04:04.374Z,1628903044.374 [Micromodem](INFO): Nmea in: $SNTTA,0.038056,,,,010404.19*41

2021-08-14T01:04:04.414Z,1628903044.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.860001 m, bearing: 57.690059 deg, deltaT: 10.136607 s, approachRate: 0.443936 m/s, LOS rate: 5.684702 deg/s, posRepo size: 4
2021-08-14T01:04:04.415Z,1628903044.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 19.86 m.
2021-08-14T01:04:04.421Z,1628903044.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.860001 m,
      bearing: 57.690059 deg,
      approachRate: 0.443936 m/s,
      LOS rate: 5.684702 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 198.360296 deg,
      new cmd heading: 201.137186 deg.

2021-08-14T01:04:06.856Z,1628903046.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:07.173Z,1628903047.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:04:07.173Z,1628903047.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:04:07.173Z,1628903047.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:04:07.174Z,1628903047.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:04:07.573Z,1628903047.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,003BC,187,80,80,97,FF
2021-08-14T01:04:07.573Z,1628903047.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:04:07.573Z,1628903047.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:04:07.575Z,1628903047.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:04:07.992Z,1628903047.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:04:08.378Z,1628903048.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,003D9,185,80,80,86,FF
2021-08-14T01:04:08.378Z,1628903048.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:04:08.437Z,1628903048.437 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:04:08.844Z,1628903048.844 [Micromodem](INFO): Nmea in: $SNTTA,0.047459,,,,010408.62*42

2021-08-14T01:04:08.934Z,1628903048.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 67.429519 deg, deltaT: 4.433635 s, approachRate: 0.392454 m/s, LOS rate: 2.196721 deg/s, posRepo size: 4
2021-08-14T01:04:08.940Z,1628903048.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.600000 m,
      bearing: 67.429519 deg,
      approachRate: 0.392454 m/s,
      LOS rate: 2.196721 deg/s,
      cmd update: 6.590164 deg/s,
      cmd heading: 251.806509 deg,
      new cmd heading: 257.848378 deg.

2021-08-14T01:04:11.262Z,1628903051.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:11.605Z,1628903051.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:04:11.605Z,1628903051.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:04:11.605Z,1628903051.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:04:11.606Z,1628903051.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:04:12.025Z,1628903052.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03D,000,003D9,185,80,80,86,FF
2021-08-14T01:04:12.025Z,1628903052.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:04:12.025Z,1628903052.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:04:12.027Z,1628903052.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:04:12.429Z,1628903052.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:04:12.870Z,1628903052.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA2,000,0040D,189,80,80,2E,FF
2021-08-14T01:04:12.871Z,1628903052.871 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:04:12.950Z,1628903052.950 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:04:13.257Z,1628903053.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010413.07*5E

2021-08-14T01:04:13.292Z,1628903053.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 113.396556 deg, deltaT: 4.512710 s, approachRate: 0.691381 m/s, LOS rate: 10.186127 deg/s, posRepo size: 4
2021-08-14T01:04:13.294Z,1628903053.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 113.396556 deg,
      approachRate: 0.691381 m/s,
      LOS rate: 10.186127 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 281.571982 deg,
      new cmd heading: 283.845582 deg.

2021-08-14T01:04:15.667Z,1628903055.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:16.066Z,1628903056.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:04:16.066Z,1628903056.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:04:16.066Z,1628903056.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:04:16.067Z,1628903056.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:04:16.457Z,1628903056.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA2,000,0040D,189,80,80,2E,FF
2021-08-14T01:04:16.457Z,1628903056.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:04:16.457Z,1628903056.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:04:16.459Z,1628903056.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:04:16.894Z,1628903056.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:04:17.273Z,1628903057.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,0043D,186,80,80,58,FF
2021-08-14T01:04:17.274Z,1628903057.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:04:17.294Z,1628903057.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:04:17.735Z,1628903057.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.600000 m, bearing: 90.126470 deg, deltaT: 4.344110 s, approachRate: 0.662966 m/s, LOS rate: -5.356698 deg/s, posRepo size: 4
2021-08-14T01:04:17.735Z,1628903057.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 27.60 m. Rolling out.
2021-08-14T01:04:17.752Z,1628903057.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T01:04:19.799Z,1628903059.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:20.112Z,1628903060.112 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:04:20.112Z,1628903060.112 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:04:20.112Z,1628903060.112 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:04:20.113Z,1628903060.113 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:04:20.497Z,1628903060.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,0043D,186,80,80,58,FF
2021-08-14T01:04:20.497Z,1628903060.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:04:20.497Z,1628903060.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:04:20.499Z,1628903060.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:04:20.934Z,1628903060.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:04:21.764Z,1628903061.764 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010421.54*59

2021-08-14T01:04:22.555Z,1628903062.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:24.133Z,1628903064.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,58,FF
2021-08-14T01:04:24.133Z,1628903064.133 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,58,FF
2021-08-14T01:04:24.134Z,1628903064.134 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:04:25.399Z,1628903065.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:25.776Z,1628903065.776 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:04:25.776Z,1628903065.776 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:04:25.777Z,1628903065.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:04:25.778Z,1628903065.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:04:26.157Z,1628903066.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,58,FF
2021-08-14T01:04:26.157Z,1628903066.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:04:26.158Z,1628903066.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:04:26.159Z,1628903066.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:04:26.635Z,1628903066.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:04:27.394Z,1628903067.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010427.21*5D

2021-08-14T01:04:28.207Z,1628903068.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:29.837Z,1628903069.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,58,FF
2021-08-14T01:04:29.838Z,1628903069.838 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,58,FF
2021-08-14T01:04:29.838Z,1628903069.838 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:04:31.075Z,1628903071.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:31.417Z,1628903071.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:04:31.417Z,1628903071.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:04:31.417Z,1628903071.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:04:31.418Z,1628903071.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:04:31.845Z,1628903071.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,58,FF
2021-08-14T01:04:31.845Z,1628903071.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:04:31.845Z,1628903071.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:04:31.847Z,1628903071.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:04:32.227Z,1628903072.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:04:32.617Z,1628903072.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,357,000,004C2,188,80,80,65,FF
2021-08-14T01:04:32.618Z,1628903072.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:04:32.661Z,1628903072.661 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:04:33.061Z,1628903073.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010432.89*5B

2021-08-14T01:04:33.136Z,1628903073.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.579998 m, bearing: 334.543403 deg, deltaT: 15.367307 s, approachRate: 0.519284 m/s, LOS rate: -7.521362 deg/s, posRepo size: 4
2021-08-14T01:04:35.470Z,1628903075.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:35.853Z,1628903075.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:04:35.853Z,1628903075.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:04:35.853Z,1628903075.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:04:35.854Z,1628903075.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:04:36.257Z,1628903076.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
357,000,004C2,188,80,80,65,FF
2021-08-14T01:04:36.257Z,1628903076.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:04:36.257Z,1628903076.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:04:36.259Z,1628903076.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:04:36.669Z,1628903076.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:04:37.061Z,1628903077.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,004DF,189,80,80,7C,FF
2021-08-14T01:04:37.062Z,1628903077.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:04:37.151Z,1628903077.151 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:04:37.497Z,1628903077.497 [Micromodem](INFO): Nmea in: $SNTTA,,0.238648,,,010437.30*41

2021-08-14T01:04:37.528Z,1628903077.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.320004 m, bearing: 330.313385 deg, deltaT: 4.489170 s, approachRate: 0.387601 m/s, LOS rate: -0.942272 deg/s, posRepo size: 4
2021-08-14T01:04:39.897Z,1628903079.897 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T01:04:39.932Z,1628903079.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:40.293Z,1628903080.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:04:40.293Z,1628903080.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:04:40.293Z,1628903080.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:04:40.294Z,1628903080.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:04:40.705Z,1628903080.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,004DF,189,80,80,7C,FF
2021-08-14T01:04:40.705Z,1628903080.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:04:40.705Z,1628903080.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:04:40.707Z,1628903080.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:04:41.105Z,1628903081.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:04:41.505Z,1628903081.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E2,000,004EE,186,80,80,94,FF
2021-08-14T01:04:41.506Z,1628903081.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:04:41.553Z,1628903081.553 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:04:41.945Z,1628903081.945 [Micromodem](INFO): Nmea in: $SNTTA,0.058390,,,,010441.75*45

2021-08-14T01:04:41.970Z,1628903081.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.220001 m, bearing: 317.366543 deg, deltaT: 4.402102 s, approachRate: 0.204447 m/s, LOS rate: -2.941059 deg/s, posRepo size: 4
2021-08-14T01:04:44.366Z,1628903084.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:44.754Z,1628903084.754 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:04:44.754Z,1628903084.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:04:44.755Z,1628903084.755 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:04:44.760Z,1628903084.760 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:04:45.145Z,1628903085.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E2,000,004EE,186,80,80,94,FF
2021-08-14T01:04:45.146Z,1628903085.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:04:45.146Z,1628903085.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:04:45.147Z,1628903085.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:04:45.549Z,1628903085.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:04:45.953Z,1628903085.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DD,000,004FF,186,80,80,91,FF
2021-08-14T01:04:45.953Z,1628903085.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:04:46.011Z,1628903086.011 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:04:46.401Z,1628903086.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010446.19*51

2021-08-14T01:04:46.423Z,1628903086.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.240002 m, bearing: 316.315568 deg, deltaT: 4.463076 s, approachRate: 0.228542 m/s, LOS rate: -0.235482 deg/s, posRepo size: 4
2021-08-14T01:04:48.902Z,1628903088.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:49.181Z,1628903089.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:04:49.181Z,1628903089.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:04:49.181Z,1628903089.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:04:49.182Z,1628903089.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:04:49.589Z,1628903089.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DD,000,004FF,186,80,80,91,FF
2021-08-14T01:04:49.589Z,1628903089.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:04:49.589Z,1628903089.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:04:49.591Z,1628903089.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:04:50.002Z,1628903090.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:04:50.401Z,1628903090.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,004FC,185,80,80,58,FF
2021-08-14T01:04:50.401Z,1628903090.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:04:50.457Z,1628903090.457 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:04:50.880Z,1628903090.880 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010450.64*5C

2021-08-14T01:04:50.971Z,1628903090.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.060001 m, bearing: 329.385654 deg, deltaT: 4.441240 s, approachRate: -0.040529 m/s, LOS rate: 2.942891 deg/s, posRepo size: 4
2021-08-14T01:04:52.962Z,1628903092.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:53.261Z,1628903093.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:04:53.261Z,1628903093.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:04:53.261Z,1628903093.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:04:53.262Z,1628903093.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:04:53.674Z,1628903093.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,004FC,185,80,80,58,FF
2021-08-14T01:04:53.674Z,1628903093.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:04:53.674Z,1628903093.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:04:53.676Z,1628903093.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:04:54.072Z,1628903094.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:04:54.481Z,1628903094.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,00515,184,80,80,4F,FF
2021-08-14T01:04:54.481Z,1628903094.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:04:54.501Z,1628903094.501 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:04:54.949Z,1628903094.949 [Micromodem](INFO): Nmea in: $SNTTA,0.037544,,,,010454.72*40

2021-08-14T01:04:54.994Z,1628903094.994 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:04:55.008Z,1628903095.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.559998 m, bearing: 329.449257 deg, deltaT: 4.043835 s, approachRate: 0.370934 m/s, LOS rate: 0.015728 deg/s, posRepo size: 4
2021-08-14T01:04:55.312Z,1628903095.312 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:04:55.312Z,1628903095.312 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:04:55.313Z,1628903095.313 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:04:55.313Z,1628903095.313 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:04:55.313Z,1628903095.313 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:04:55.314Z,1628903095.314 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:04:55.724Z,1628903095.724 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:04:55.724Z,1628903095.724 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:04:55.724Z,1628903095.724 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:04:55.724Z,1628903095.724 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:04:57.019Z,1628903097.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:04:57.302Z,1628903097.302 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:04:57.302Z,1628903097.302 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:04:57.302Z,1628903097.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:04:57.303Z,1628903097.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:04:57.717Z,1628903097.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,00515,184,80,80,4F,FF
2021-08-14T01:04:57.717Z,1628903097.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:04:57.717Z,1628903097.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:04:57.719Z,1628903097.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:04:58.122Z,1628903098.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:04:58.517Z,1628903098.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,0051F,189,80,80,6D,FF
2021-08-14T01:04:58.517Z,1628903098.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:04:58.965Z,1628903098.965 [Micromodem](INFO): Nmea in: $SNTTA,0.466728,0.466815,,,010458.77*57

2021-08-14T01:04:59.030Z,1628903099.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.159996 m, bearing: 291.037694 deg, deltaT: 4.089120 s, approachRate: 0.146730 m/s, LOS rate: -9.393601 deg/s, posRepo size: 4
2021-08-14T01:05:01.382Z,1628903101.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:05:01.752Z,1628903101.752 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:05:01.753Z,1628903101.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:05:01.753Z,1628903101.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:05:01.755Z,1628903101.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:05:02.153Z,1628903102.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,0051F,189,80,80,6D,FF
2021-08-14T01:05:02.153Z,1628903102.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:05:02.153Z,1628903102.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:05:02.155Z,1628903102.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:05:02.561Z,1628903102.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:05:02.968Z,1628903102.968 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,00534,189,80,80,55,FF
2021-08-14T01:05:02.969Z,1628903102.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:05:02.972Z,1628903102.972 [Micromodem](INFO): Nmea in: $SNTTA,0.251252,0.251245,,,010503.20*5D

2021-08-14T01:05:03.407Z,1628903103.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.419998 m, bearing: 298.779385 deg, deltaT: 4.454275 s, approachRate: 0.282875 m/s, LOS rate: 1.738036 deg/s, posRepo size: 4
2021-08-14T01:05:05.029Z,1628903105.029 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:05:05.854Z,1628903105.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:05:06.189Z,1628903106.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:05:06.189Z,1628903106.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:05:06.189Z,1628903106.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:05:06.190Z,1628903106.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:05:06.605Z,1628903106.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,00534,189,80,80,55,FF
2021-08-14T01:05:06.605Z,1628903106.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:05:06.605Z,1628903106.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:05:06.607Z,1628903106.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:05:07.005Z,1628903107.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:05:07.409Z,1628903107.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,00551,185,80,80,82,FF
2021-08-14T01:05:07.409Z,1628903107.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:05:07.854Z,1628903107.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010507.65*5E

2021-08-14T01:05:07.880Z,1628903107.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.160000 m, bearing: 311.447009 deg, deltaT: 4.408390 s, approachRate: 0.394702 m/s, LOS rate: 2.873526 deg/s, posRepo size: 4
2021-08-14T01:05:09.858Z,1628903109.858 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:05:10.267Z,1628903110.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:05:10.645Z,1628903110.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:05:10.645Z,1628903110.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:05:10.645Z,1628903110.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:05:10.646Z,1628903110.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:05:11.037Z,1628903111.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,00551,185,80,80,82,FF
2021-08-14T01:05:11.037Z,1628903111.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:05:11.037Z,1628903111.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:05:11.039Z,1628903111.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:05:11.449Z,1628903111.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:05:12.282Z,1628903112.282 [Micromodem](INFO): Nmea in: $SNTTA,0.039240,,,,010512.09*42

2021-08-14T01:05:13.113Z,1628903113.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:05:14.673Z,1628903114.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,185,80,80,82,FF
2021-08-14T01:05:14.673Z,1628903114.673 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,185,80,80,82,FF
2021-08-14T01:05:14.674Z,1628903114.674 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:05:15.112Z,1628903115.112 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-14T01:05:15.935Z,1628903115.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:05:16.293Z,1628903116.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:05:16.293Z,1628903116.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:05:16.293Z,1628903116.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:05:16.294Z,1628903116.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:05:16.693Z,1628903116.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,185,80,80,82,FF
2021-08-14T01:05:16.693Z,1628903116.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:05:16.693Z,1628903116.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:05:16.695Z,1628903116.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:05:17.111Z,1628903117.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:05:17.501Z,1628903117.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,00592,189,80,80,99,FF
2021-08-14T01:05:17.501Z,1628903117.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:05:17.946Z,1628903117.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010517.74*5F

2021-08-14T01:05:17.976Z,1628903117.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.060001 m, bearing: 294.268537 deg, deltaT: 10.096110 s, approachRate: 0.386288 m/s, LOS rate: -1.701494 deg/s, posRepo size: 4
2021-08-14T01:05:20.375Z,1628903120.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:05:20.737Z,1628903120.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:05:20.737Z,1628903120.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:05:20.737Z,1628903120.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:05:20.738Z,1628903120.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:05:21.153Z,1628903121.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,00592,189,80,80,99,FF
2021-08-14T01:05:21.153Z,1628903121.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:05:21.154Z,1628903121.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:05:21.155Z,1628903121.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:05:21.553Z,1628903121.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:05:21.953Z,1628903121.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,297,000,005B4,189,80,80,A3,FF
2021-08-14T01:05:21.953Z,1628903121.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:05:22.385Z,1628903122.385 [Micromodem](INFO): Nmea in: $SNTTA,0.059760,,,,010522.20*4B

2021-08-14T01:05:22.408Z,1628903122.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.099998 m, bearing: 295.288885 deg, deltaT: 4.477874 s, approachRate: 0.455573 m/s, LOS rate: 0.227864 deg/s, posRepo size: 4
2021-08-14T01:05:24.895Z,1628903124.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:05:25.197Z,1628903125.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:05:25.197Z,1628903125.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:05:25.197Z,1628903125.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:05:25.198Z,1628903125.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:05:25.578Z,1628903125.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
297,000,005B4,189,80,80,A3,FF
2021-08-14T01:05:25.579Z,1628903125.579 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:05:25.579Z,1628903125.579 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:05:25.580Z,1628903125.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:05:26.006Z,1628903126.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:05:26.399Z,1628903126.399 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,005D3,189,80,80,A2,FF
2021-08-14T01:05:26.400Z,1628903126.400 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:05:26.874Z,1628903126.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010526.63*5B

2021-08-14T01:05:26.948Z,1628903126.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.959999 m, bearing: 298.254499 deg, deltaT: 4.393208 s, approachRate: 0.423381 m/s, LOS rate: 0.675045 deg/s, posRepo size: 4
2021-08-14T01:05:28.935Z,1628903128.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:05:29.229Z,1628903129.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:05:29.229Z,1628903129.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:05:29.230Z,1628903129.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:05:29.231Z,1628903129.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:05:29.617Z,1628903129.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,005D3,189,80,80,A2,FF
2021-08-14T01:05:29.617Z,1628903129.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:05:29.618Z,1628903129.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:05:29.619Z,1628903129.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:05:30.046Z,1628903130.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:05:30.434Z,1628903130.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16F,000,005F6,186,80,80,4A,FF
2021-08-14T01:05:30.434Z,1628903130.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:05:30.905Z,1628903130.905 [Micromodem](INFO): Nmea in: $SNTTA,0.047794,,,,010530.67*4F

2021-08-14T01:05:30.961Z,1628903130.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.060001 m, bearing: 309.708398 deg, deltaT: 4.059348 s, approachRate: 0.517325 m/s, LOS rate: 2.821611 deg/s, posRepo size: 4
2021-08-14T01:05:33.309Z,1628903133.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:05:33.665Z,1628903133.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:05:33.665Z,1628903133.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:05:33.666Z,1628903133.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:05:33.666Z,1628903133.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:05:34.082Z,1628903134.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16F,000,005F6,186,80,80,4A,FF
2021-08-14T01:05:34.082Z,1628903134.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:05:34.083Z,1628903134.083 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:05:34.085Z,1628903134.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:05:34.487Z,1628903134.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:05:34.938Z,1628903134.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D8,000,00624,188,80,80,9F,FF
2021-08-14T01:05:34.938Z,1628903134.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:05:34.942Z,1628903134.942 [Micromodem](INFO): Nmea in: $SNTTA,0.283610,0.283347,,,010535.13*59

2021-08-14T01:05:35.344Z,1628903135.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.820004 m, bearing: 292.024000 deg, deltaT: 4.651779 s, approachRate: 0.593322 m/s, LOS rate: -3.801642 deg/s, posRepo size: 4
2021-08-14T01:05:37.787Z,1628903137.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:05:38.138Z,1628903138.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:05:38.139Z,1628903138.139 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:05:38.139Z,1628903138.139 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:05:38.140Z,1628903138.140 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:05:38.533Z,1628903138.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D8,000,00624,188,80,80,9F,FF
2021-08-14T01:05:38.533Z,1628903138.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:05:38.533Z,1628903138.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:05:38.535Z,1628903138.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:05:38.949Z,1628903138.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:05:39.337Z,1628903139.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,00647,189,80,80,9E,FF
2021-08-14T01:05:39.337Z,1628903139.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:05:39.825Z,1628903139.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010539.58*5D

2021-08-14T01:05:39.860Z,1628903139.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 291.430949 deg, deltaT: 4.269974 s, approachRate: 0.491807 m/s, LOS rate: -0.138889 deg/s, posRepo size: 4
2021-08-14T01:05:42.194Z,1628903142.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:05:42.569Z,1628903142.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:05:42.569Z,1628903142.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:05:42.569Z,1628903142.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:05:42.570Z,1628903142.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:05:42.977Z,1628903142.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,00647,189,80,80,9E,FF
2021-08-14T01:05:42.977Z,1628903142.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:05:42.978Z,1628903142.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:05:42.980Z,1628903142.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:05:43.387Z,1628903143.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:05:43.810Z,1628903143.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A2,000,00672,188,80,80,7A,FF
2021-08-14T01:05:43.811Z,1628903143.811 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:05:44.217Z,1628903144.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010544.03*59

2021-08-14T01:05:44.248Z,1628903144.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.500000 m, bearing: 295.086876 deg, deltaT: 4.480513 s, approachRate: 0.575826 m/s, LOS rate: 0.815962 deg/s, posRepo size: 4
2021-08-14T01:05:46.654Z,1628903146.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:05:47.013Z,1628903147.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:05:47.013Z,1628903147.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:05:47.013Z,1628903147.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:05:47.014Z,1628903147.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:05:47.433Z,1628903147.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A2,000,00672,188,80,80,7A,FF
2021-08-14T01:05:47.433Z,1628903147.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:05:47.433Z,1628903147.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:05:47.435Z,1628903147.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:05:47.833Z,1628903147.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:05:48.229Z,1628903148.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F4,000,0069C,189,80,80,95,FF
2021-08-14T01:05:48.229Z,1628903148.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:05:48.673Z,1628903148.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010548.48*5A

2021-08-14T01:05:48.704Z,1628903148.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.020004 m, bearing: 290.957698 deg, deltaT: 4.367509 s, approachRate: 0.576989 m/s, LOS rate: -0.945431 deg/s, posRepo size: 4
2021-08-14T01:05:51.143Z,1628903151.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:05:51.465Z,1628903151.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:05:51.465Z,1628903151.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:05:51.465Z,1628903151.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:05:51.466Z,1628903151.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:05:51.866Z,1628903151.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F4,000,0069C,189,80,80,95,FF
2021-08-14T01:05:51.866Z,1628903151.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:05:51.866Z,1628903151.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:05:51.868Z,1628903151.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:05:52.273Z,1628903152.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:05:52.678Z,1628903152.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38D,000,006CA,188,80,80,6A,FF
2021-08-14T01:05:52.678Z,1628903152.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:05:53.093Z,1628903153.093 [Micromodem](INFO): Nmea in: $SNTTA,0.055875,0.431605,,,010552.92*59

2021-08-14T01:05:53.175Z,1628903153.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.779999 m, bearing: 282.995501 deg, deltaT: 4.473329 s, approachRate: 0.616989 m/s, LOS rate: -1.779927 deg/s, posRepo size: 4
2021-08-14T01:05:55.519Z,1628903155.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:05:55.901Z,1628903155.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:05:55.901Z,1628903155.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:05:55.901Z,1628903155.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:05:55.902Z,1628903155.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:05:56.313Z,1628903156.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38D,000,006CA,188,80,80,6A,FF
2021-08-14T01:05:56.313Z,1628903156.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:05:56.313Z,1628903156.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:05:56.315Z,1628903156.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:05:56.712Z,1628903156.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:05:57.125Z,1628903157.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8D,000,006FA,18A,80,80,36,FF
2021-08-14T01:05:57.125Z,1628903157.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:05:57.553Z,1628903157.553 [Micromodem](INFO): Nmea in: $SNTTA,0.074456,,,,010557.36*47

2021-08-14T01:05:57.599Z,1628903157.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.659996 m, bearing: 13.353133 deg, deltaT: 4.484271 s, approachRate: 0.642244 m/s, LOS rate: 20.149903 deg/s, posRepo size: 4
2021-08-14T01:05:59.969Z,1628903159.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:06:00.345Z,1628903160.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:06:00.345Z,1628903160.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:06:00.345Z,1628903160.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:06:00.346Z,1628903160.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:06:00.752Z,1628903160.752 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8D,000,006FA,18A,80,80,36,FF
2021-08-14T01:06:00.753Z,1628903160.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:06:00.753Z,1628903160.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:06:00.759Z,1628903160.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:06:01.181Z,1628903161.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:06:01.558Z,1628903161.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,477,000,00725,189,80,80,55,FF
2021-08-14T01:06:01.558Z,1628903161.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:06:01.997Z,1628903161.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010601.81*51

2021-08-14T01:06:02.039Z,1628903162.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.240005 m, bearing: 271.425789 deg, deltaT: 4.375619 s, approachRate: 0.589633 m/s, LOS rate: -23.294382 deg/s, posRepo size: 4
2021-08-14T01:06:04.422Z,1628903164.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:06:04.840Z,1628903164.840 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:06:04.840Z,1628903164.840 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:06:04.841Z,1628903164.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:06:04.842Z,1628903164.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:06:05.205Z,1628903165.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
477,000,00725,189,80,80,55,FF
2021-08-14T01:06:05.205Z,1628903165.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:06:05.206Z,1628903165.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:06:05.207Z,1628903165.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:06:05.232Z,1628903165.232 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:06:05.616Z,1628903165.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:06:06.005Z,1628903166.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,00753,187,80,80,87,FF
2021-08-14T01:06:06.006Z,1628903166.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:06:06.441Z,1628903166.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010606.25*58

2021-08-14T01:06:06.475Z,1628903166.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.000008 m, bearing: 335.680821 deg, deltaT: 4.490110 s, approachRate: 0.614685 m/s, LOS rate: 14.310347 deg/s, posRepo size: 4
2021-08-14T01:06:08.935Z,1628903168.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:06:09.245Z,1628903169.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:06:09.245Z,1628903169.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:06:09.245Z,1628903169.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:06:09.246Z,1628903169.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:06:09.634Z,1628903169.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,00753,187,80,80,87,FF
2021-08-14T01:06:09.634Z,1628903169.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:06:09.634Z,1628903169.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:06:09.636Z,1628903169.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:06:10.054Z,1628903170.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:06:10.445Z,1628903170.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4BC,000,00783,189,80,80,59,FF
2021-08-14T01:06:10.446Z,1628903170.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:06:10.921Z,1628903170.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010610.68*56

2021-08-14T01:06:10.999Z,1628903170.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.880005 m, bearing: 268.132682 deg, deltaT: 4.416674 s, approachRate: 0.652074 m/s, LOS rate: -15.293893 deg/s, posRepo size: 4
2021-08-14T01:06:13.300Z,1628903173.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:06:13.677Z,1628903173.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:06:13.677Z,1628903173.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:06:13.677Z,1628903173.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:06:13.678Z,1628903173.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:06:14.089Z,1628903174.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4BC,000,00783,189,80,80,59,FF
2021-08-14T01:06:14.089Z,1628903174.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:06:14.089Z,1628903174.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:06:14.091Z,1628903174.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:06:14.493Z,1628903174.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:06:14.938Z,1628903174.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,007AD,186,80,80,60,FF
2021-08-14T01:06:14.938Z,1628903174.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:06:14.941Z,1628903174.941 [Micromodem](INFO): Nmea in: $SNTTA,0.067763,0.280675,,,010615.14*55

2021-08-14T01:06:14.948Z,1628903174.948 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:06:15.323Z,1628903175.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.399994 m, bearing: 337.759275 deg, deltaT: 4.532556 s, approachRate: 0.555975 m/s, LOS rate: 15.361442 deg/s, posRepo size: 4
2021-08-14T01:06:17.755Z,1628903177.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:06:18.121Z,1628903178.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:06:18.121Z,1628903178.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:06:18.121Z,1628903178.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:06:18.122Z,1628903178.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:06:18.525Z,1628903178.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,007AD,186,80,80,60,FF
2021-08-14T01:06:18.525Z,1628903178.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:06:18.525Z,1628903178.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:06:18.527Z,1628903178.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:06:18.942Z,1628903178.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:06:19.333Z,1628903179.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,007DE,18A,80,80,7E,FF
2021-08-14T01:06:19.334Z,1628903179.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:06:19.807Z,1628903179.807 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010619.57*53

2021-08-14T01:06:19.873Z,1628903179.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.340004 m, bearing: 264.263243 deg, deltaT: 4.374752 s, approachRate: 0.672040 m/s, LOS rate: -16.800046 deg/s, posRepo size: 4
2021-08-14T01:06:22.188Z,1628903182.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:06:22.565Z,1628903182.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:06:22.565Z,1628903182.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:06:22.565Z,1628903182.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:06:22.566Z,1628903182.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:06:22.969Z,1628903182.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,007DE,18A,80,80,7E,FF
2021-08-14T01:06:22.969Z,1628903182.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:06:22.969Z,1628903182.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:06:22.971Z,1628903182.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:06:23.390Z,1628903183.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:06:23.797Z,1628903183.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,441,000,0080E,189,80,80,72,FF
2021-08-14T01:06:23.798Z,1628903183.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:06:24.221Z,1628903184.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010624.02*5D

2021-08-14T01:06:24.243Z,1628903184.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.220001 m, bearing: 274.254143 deg, deltaT: 4.430873 s, approachRate: 0.649984 m/s, LOS rate: 2.254838 deg/s, posRepo size: 4
2021-08-14T01:06:26.623Z,1628903186.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:06:27.017Z,1628903187.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:06:27.017Z,1628903187.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:06:27.018Z,1628903187.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:06:27.018Z,1628903187.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:06:27.421Z,1628903187.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
441,000,0080E,189,80,80,72,FF
2021-08-14T01:06:27.421Z,1628903187.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:06:27.421Z,1628903187.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:06:27.423Z,1628903187.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:06:27.837Z,1628903187.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:06:28.226Z,1628903188.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,493,000,00841,18A,80,80,7D,FF
2021-08-14T01:06:28.227Z,1628903188.227 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:06:28.665Z,1628903188.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010628.47*50

2021-08-14T01:06:28.704Z,1628903188.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.279999 m, bearing: 270.486474 deg, deltaT: 4.423078 s, approachRate: 0.691825 m/s, LOS rate: -0.851821 deg/s, posRepo size: 4
2021-08-14T01:06:31.125Z,1628903191.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:06:31.449Z,1628903191.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:06:31.449Z,1628903191.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:06:31.449Z,1628903191.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:06:31.450Z,1628903191.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:06:31.857Z,1628903191.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
493,000,00841,18A,80,80,7D,FF
2021-08-14T01:06:31.857Z,1628903191.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:06:31.857Z,1628903191.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:06:31.859Z,1628903191.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:06:32.281Z,1628903192.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:06:32.669Z,1628903192.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0086F,189,80,80,90,FF
2021-08-14T01:06:32.670Z,1628903192.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:06:33.110Z,1628903193.110 [Micromodem](INFO): Nmea in: $SNTTA,0.067211,,,,010632.91*4D

2021-08-14T01:06:33.147Z,1628903193.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.040001 m, bearing: 264.584426 deg, deltaT: 4.467135 s, approachRate: 0.617846 m/s, LOS rate: -1.321216 deg/s, posRepo size: 4
2021-08-14T01:06:35.531Z,1628903195.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:06:35.905Z,1628903195.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:06:35.905Z,1628903195.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:06:35.905Z,1628903195.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:06:35.906Z,1628903195.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:06:36.301Z,1628903196.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0086F,189,80,80,90,FF
2021-08-14T01:06:36.301Z,1628903196.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:06:36.301Z,1628903196.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:06:36.303Z,1628903196.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:06:36.712Z,1628903196.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:06:37.538Z,1628903197.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010637.35*5B

2021-08-14T01:06:38.396Z,1628903198.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:06:39.533Z,1628903199.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF3,000,07C55,189,80,80,7D,FF
2021-08-14T01:06:39.534Z,1628903199.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:06:39.989Z,1628903199.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1872.239990 m, bearing: 7.682995 deg, deltaT: 6.868980 s, approachRate: 259.165100 m/s, LOS rate: 15.009300 deg/s, posRepo size: 4
2021-08-14T01:06:39.989Z,1628903199.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1872.24 m. Resuming terminal guidance.
2021-08-14T01:06:39.990Z,1628903199.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T01:06:42.402Z,1628903202.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:06:42.792Z,1628903202.792 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:06:42.792Z,1628903202.792 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:06:42.792Z,1628903202.792 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:06:42.792Z,1628903202.792 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:06:43.189Z,1628903203.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF3,000,07C55,189,80,80,7D,FF
2021-08-14T01:06:43.189Z,1628903203.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:06:43.189Z,1628903203.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:06:43.191Z,1628903203.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:06:43.581Z,1628903203.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:06:43.993Z,1628903203.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,008F0,185,80,80,69,FF
2021-08-14T01:06:43.993Z,1628903203.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:06:44.409Z,1628903204.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010644.24*5F

2021-08-14T01:06:44.439Z,1628903204.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.779999 m, bearing: 330.744998 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T01:06:44.439Z,1628903204.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 330.744998deg and heading rate command to 0 deg/s.
2021-08-14T01:06:44.896Z,1628903204.896 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T01:06:46.910Z,1628903206.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:06:47.230Z,1628903207.230 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:06:47.230Z,1628903207.230 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:06:47.230Z,1628903207.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:06:47.231Z,1628903207.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:06:47.621Z,1628903207.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,008F0,185,80,80,69,FF
2021-08-14T01:06:47.621Z,1628903207.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:06:47.621Z,1628903207.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:06:47.623Z,1628903207.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:06:48.041Z,1628903208.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:06:48.430Z,1628903208.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE1,000,00921,189,80,80,3F,FF
2021-08-14T01:06:48.430Z,1628903208.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:06:48.897Z,1628903208.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010648.67*54

2021-08-14T01:06:48.951Z,1628903208.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.720001 m, bearing: 8.481878 deg, deltaT: 4.442795 s, approachRate: 0.661746 m/s, LOS rate: 8.493947 deg/s, posRepo size: 2
2021-08-14T01:06:48.953Z,1628903208.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.720001 m,
      bearing: 8.481878 deg,
      approachRate: 0.661746 m/s,
      LOS rate: 8.493947 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 330.744998 deg,
      new cmd heading: 330.744998 deg.

2021-08-14T01:06:51.299Z,1628903211.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:06:51.646Z,1628903211.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:06:51.646Z,1628903211.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:06:51.647Z,1628903211.647 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:06:51.648Z,1628903211.648 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:06:52.072Z,1628903212.072 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE1,000,00921,189,80,80,3F,FF
2021-08-14T01:06:52.072Z,1628903212.072 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:06:52.072Z,1628903212.072 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:06:52.075Z,1628903212.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:06:52.468Z,1628903212.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:06:52.902Z,1628903212.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E45,000,00956,186,80,80,67,FF
2021-08-14T01:06:52.902Z,1628903212.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:06:53.301Z,1628903213.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010653.13*5D

2021-08-14T01:06:53.343Z,1628903213.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.900002 m, bearing: 352.269219 deg, deltaT: 4.500515 s, approachRate: 0.706586 m/s, LOS rate: -3.602398 deg/s, posRepo size: 3
2021-08-14T01:06:53.350Z,1628903213.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.900002 m,
      bearing: 352.269219 deg,
      approachRate: 0.706586 m/s,
      LOS rate: -3.602398 deg/s,
      cmd update: -10.807194 deg/s,
      cmd heading: 24.799744 deg,
      new cmd heading: 29.115172 deg.

2021-08-14T01:06:54.962Z,1628903214.962 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T01:06:55.704Z,1628903215.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:06:56.106Z,1628903216.106 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:06:56.106Z,1628903216.106 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:06:56.106Z,1628903216.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:06:56.107Z,1628903216.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:06:56.497Z,1628903216.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E45,000,00956,186,80,80,67,FF
2021-08-14T01:06:56.497Z,1628903216.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:06:56.498Z,1628903216.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:06:56.499Z,1628903216.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:06:56.932Z,1628903216.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:06:57.309Z,1628903217.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DD,000,00986,187,80,80,68,FF
2021-08-14T01:06:57.310Z,1628903217.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:06:57.396Z,1628903217.396 [CTD_Seabird](ERROR): Failed to parse device response: 
2,4.75568,4862.45
2021-08-14T01:06:57.762Z,1628903217.762 [Micromodem](INFO): Nmea in: $SNTTA,0.254520,,,,010657.55*41

2021-08-14T01:06:57.827Z,1628903217.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.780006 m, bearing: 321.813706 deg, deltaT: 4.414160 s, approachRate: 0.652447 m/s, LOS rate: -6.899504 deg/s, posRepo size: 4
2021-08-14T01:06:57.830Z,1628903217.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.780006 m,
      bearing: 321.813706 deg,
      approachRate: 0.652447 m/s,
      LOS rate: -6.899504 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 337.109683 deg,
      new cmd heading: 332.452971 deg.

2021-08-14T01:07:00.197Z,1628903220.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:00.549Z,1628903220.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:07:00.549Z,1628903220.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:07:00.550Z,1628903220.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:07:00.551Z,1628903220.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:07:00.945Z,1628903220.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DD,000,00986,187,80,80,68,FF
2021-08-14T01:07:00.945Z,1628903220.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:07:00.945Z,1628903220.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:07:00.947Z,1628903220.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:07:01.375Z,1628903221.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:07:02.182Z,1628903222.182 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010701.99*59

2021-08-14T01:07:03.024Z,1628903223.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:04.581Z,1628903224.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,68,FF
2021-08-14T01:07:04.581Z,1628903224.581 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,68,FF
2021-08-14T01:07:04.581Z,1628903224.581 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:07:04.996Z,1628903224.996 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T01:07:05.853Z,1628903225.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:06.198Z,1628903226.198 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:07:06.198Z,1628903226.198 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:07:06.198Z,1628903226.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:07:06.199Z,1628903226.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:07:06.597Z,1628903226.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,68,FF
2021-08-14T01:07:06.597Z,1628903226.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:07:06.598Z,1628903226.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:07:06.599Z,1628903226.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:07:07.017Z,1628903227.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:07:07.834Z,1628903227.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010707.65*5C

2021-08-14T01:07:08.638Z,1628903228.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:09.874Z,1628903229.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,68,FF
2021-08-14T01:07:09.874Z,1628903229.874 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,68,FF
2021-08-14T01:07:09.874Z,1628903229.874 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:07:11.494Z,1628903231.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:11.853Z,1628903231.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:07:11.853Z,1628903231.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:07:11.853Z,1628903231.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:07:11.854Z,1628903231.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:07:12.261Z,1628903232.261 [DUSBL_Hydroid](INFO): DUSBL response received:80,63,E4
!U1,P
E4
6,187,80,80,68,FF
2021-08-14T01:07:12.261Z,1628903232.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:07:12.262Z,1628903232.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:07:12.263Z,1628903232.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:07:12.673Z,1628903232.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:07:13.080Z,1628903233.080 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,164,000,00A37,185,80,80,8A,FF
2021-08-14T01:07:13.081Z,1628903233.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:07:13.513Z,1628903233.513 [Micromodem](INFO): Nmea in: $SNTTA,0.235686,,,,010713.31*4A

2021-08-14T01:07:13.528Z,1628903233.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.400002 m, bearing: 305.033899 deg, deltaT: 15.749668 s, approachRate: 0.674300 m/s, LOS rate: -1.065407 deg/s, posRepo size: 4
2021-08-14T01:07:13.530Z,1628903233.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.400002 m,
      bearing: 305.033899 deg,
      approachRate: 0.674300 m/s,
      LOS rate: -1.065407 deg/s,
      cmd update: -3.196221 deg/s,
      cmd heading: 148.340976 deg,
      new cmd heading: 143.528687 deg.

2021-08-14T01:07:15.948Z,1628903235.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:16.301Z,1628903236.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:07:16.301Z,1628903236.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:07:16.301Z,1628903236.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:07:16.302Z,1628903236.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:07:16.705Z,1628903236.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
164,000,00A37,185,80,80,8A,FF
2021-08-14T01:07:16.705Z,1628903236.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:07:16.705Z,1628903236.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:07:16.707Z,1628903236.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:07:17.113Z,1628903237.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:07:17.513Z,1628903237.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39C,000,00A5C,189,80,80,A7,FF
2021-08-14T01:07:17.514Z,1628903237.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:07:17.953Z,1628903237.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010717.76*5F

2021-08-14T01:07:17.979Z,1628903237.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.620010 m, bearing: 258.243141 deg, deltaT: 4.416534 s, approachRate: 0.502659 m/s, LOS rate: -10.594452 deg/s, posRepo size: 4
2021-08-14T01:07:17.981Z,1628903237.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.620010 m,
      bearing: 258.243141 deg,
      approachRate: 0.502659 m/s,
      LOS rate: -10.594452 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 134.161819 deg,
      new cmd heading: 132.833917 deg.

2021-08-14T01:07:20.394Z,1628903240.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:20.747Z,1628903240.747 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:07:20.748Z,1628903240.748 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:07:20.749Z,1628903240.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:07:20.750Z,1628903240.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:07:21.145Z,1628903241.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39C,000,00A5C,189,80,80,A7,FF
2021-08-14T01:07:21.145Z,1628903241.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:07:21.145Z,1628903241.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:07:21.147Z,1628903241.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:07:21.552Z,1628903241.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:07:21.953Z,1628903241.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,157,000,00526,185,80,80,BE,FF
2021-08-14T01:07:21.953Z,1628903241.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:07:22.397Z,1628903242.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010722.20*5A

2021-08-14T01:07:22.430Z,1628903242.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.579998 m, bearing: 269.955468 deg, deltaT: 4.415786 s, approachRate: -18.125881 m/s, LOS rate: 2.652376 deg/s, posRepo size: 4
2021-08-14T01:07:22.431Z,1628903242.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.579998 m,
      bearing: 269.955468 deg,
      approachRate: -18.125881 m/s,
      LOS rate: 2.652376 deg/s,
      cmd update: 7.957129 deg/s,
      cmd heading: 81.166050 deg,
      new cmd heading: 75.767766 deg.

2021-08-14T01:07:24.908Z,1628903244.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:25.181Z,1628903245.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:07:25.181Z,1628903245.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:07:25.181Z,1628903245.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:07:25.182Z,1628903245.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:07:25.586Z,1628903245.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
157,000,00526,185,80,80,BE,FF
2021-08-14T01:07:25.586Z,1628903245.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:07:25.586Z,1628903245.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:07:25.587Z,1628903245.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:07:26.005Z,1628903246.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:07:26.405Z,1628903246.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,00A96,188,80,80,C1,FF
2021-08-14T01:07:26.406Z,1628903246.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:07:26.877Z,1628903246.877 [Micromodem](INFO): Nmea in: $SNTTA,0.375662,,,,010726.64*43

2021-08-14T01:07:26.961Z,1628903246.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.100006 m, bearing: 249.313024 deg, deltaT: 4.478767 s, approachRate: 18.647991 m/s, LOS rate: -4.608957 deg/s, posRepo size: 4
2021-08-14T01:07:26.963Z,1628903246.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.100006 m,
      bearing: 249.313024 deg,
      approachRate: 18.647991 m/s,
      LOS rate: -4.608957 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 116.770958 deg,
      new cmd heading: 120.802215 deg.

2021-08-14T01:07:29.282Z,1628903249.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:29.633Z,1628903249.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:07:29.634Z,1628903249.634 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:07:29.634Z,1628903249.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:07:29.635Z,1628903249.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:07:30.033Z,1628903250.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B2,000,00A96,188,80,80,C1,FF
2021-08-14T01:07:30.033Z,1628903250.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:07:30.033Z,1628903250.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:07:30.035Z,1628903250.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:07:30.441Z,1628903250.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:07:30.861Z,1628903250.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E0,000,00AB5,189,80,80,A6,FF
2021-08-14T01:07:30.862Z,1628903250.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:07:30.906Z,1628903250.906 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T01:07:31.277Z,1628903251.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010731.08*52

2021-08-14T01:07:31.299Z,1628903251.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.960007 m, bearing: 256.240503 deg, deltaT: 4.500585 s, approachRate: 0.413280 m/s, LOS rate: 1.539240 deg/s, posRepo size: 4
2021-08-14T01:07:31.321Z,1628903251.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.960007 m,
      bearing: 256.240503 deg,
      approachRate: 0.413280 m/s,
      LOS rate: 1.539240 deg/s,
      cmd update: 4.617719 deg/s,
      cmd heading: 62.764020 deg,
      new cmd heading: 58.632516 deg.

2021-08-14T01:07:33.686Z,1628903253.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:34.073Z,1628903254.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:07:34.073Z,1628903254.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:07:34.073Z,1628903254.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:07:34.074Z,1628903254.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:07:34.481Z,1628903254.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E0,000,00AB5,189,80,80,A6,FF
2021-08-14T01:07:34.481Z,1628903254.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:07:34.481Z,1628903254.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:07:34.483Z,1628903254.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:07:34.957Z,1628903254.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:07:34.984Z,1628903254.984 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T01:07:35.289Z,1628903255.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CF,000,00AD2,186,80,80,A0,FF
2021-08-14T01:07:35.290Z,1628903255.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:07:35.734Z,1628903255.734 [Micromodem](INFO): Nmea in: $SNTTA,0.087801,,,,010735.53*40

2021-08-14T01:07:35.771Z,1628903255.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.699997 m, bearing: 258.881300 deg, deltaT: 4.370889 s, approachRate: 0.398086 m/s, LOS rate: 0.604178 deg/s, posRepo size: 4
2021-08-14T01:07:35.797Z,1628903255.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.699997 m,
      bearing: 258.881300 deg,
      approachRate: 0.398086 m/s,
      LOS rate: 0.604178 deg/s,
      cmd update: 1.812535 deg/s,
      cmd heading: 82.854773 deg,
      new cmd heading: 84.981178 deg.

2021-08-14T01:07:38.152Z,1628903258.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:38.521Z,1628903258.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:07:38.521Z,1628903258.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:07:38.521Z,1628903258.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:07:38.522Z,1628903258.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:07:38.945Z,1628903258.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CF,000,00AD2,186,80,80,A0,FF
2021-08-14T01:07:38.945Z,1628903258.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:07:38.945Z,1628903258.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:07:38.947Z,1628903258.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:07:39.412Z,1628903259.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:07:39.825Z,1628903259.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,231,000,00AEE,188,80,80,99,FF
2021-08-14T01:07:39.825Z,1628903259.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:07:40.209Z,1628903260.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010740.00*5C

2021-08-14T01:07:40.231Z,1628903260.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.380005 m, bearing: 266.657470 deg, deltaT: 4.522134 s, approachRate: 0.371508 m/s, LOS rate: 1.719580 deg/s, posRepo size: 4
2021-08-14T01:07:40.254Z,1628903260.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.380005 m,
      bearing: 266.657470 deg,
      approachRate: 0.371508 m/s,
      LOS rate: 1.719580 deg/s,
      cmd update: 5.158739 deg/s,
      cmd heading: 91.095408 deg,
      new cmd heading: 91.782750 deg.

2021-08-14T01:07:42.674Z,1628903262.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:43.025Z,1628903263.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:07:43.025Z,1628903263.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:07:43.025Z,1628903263.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:07:43.026Z,1628903263.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:07:43.437Z,1628903263.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
231,000,00AEE,188,80,80,99,FF
2021-08-14T01:07:43.438Z,1628903263.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:07:43.438Z,1628903263.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:07:43.439Z,1628903263.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:07:43.841Z,1628903263.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:07:44.241Z,1628903264.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,00B1C,185,80,80,32,FF
2021-08-14T01:07:44.241Z,1628903264.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:07:44.698Z,1628903264.698 [Micromodem](INFO): Nmea in: $SNTTA,0.229018,,,,010744.49*4B

2021-08-14T01:07:44.719Z,1628903264.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.139999 m, bearing: 308.591608 deg, deltaT: 4.406566 s, approachRate: 0.626337 m/s, LOS rate: 9.516285 deg/s, posRepo size: 4
2021-08-14T01:07:44.722Z,1628903264.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.139999 m,
      bearing: 308.591608 deg,
      approachRate: 0.626337 m/s,
      LOS rate: 9.516285 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 113.826351 deg,
      new cmd heading: 116.204354 deg.

2021-08-14T01:07:47.144Z,1628903267.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:47.465Z,1628903267.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:07:47.465Z,1628903267.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:07:47.465Z,1628903267.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:07:47.466Z,1628903267.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:07:47.873Z,1628903267.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,00B1C,185,80,80,32,FF
2021-08-14T01:07:47.873Z,1628903267.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:07:47.873Z,1628903267.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:07:47.875Z,1628903267.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:07:48.281Z,1628903268.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:07:48.689Z,1628903268.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,0073E,186,80,80,88,FF
2021-08-14T01:07:48.689Z,1628903268.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:07:49.125Z,1628903269.125 [Micromodem](INFO): Nmea in: $SNTTA,0.386746,,,,010748.93*48

2021-08-14T01:07:49.194Z,1628903269.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.740005 m, bearing: 349.589162 deg, deltaT: 4.528576 s, approachRate: -13.116705 m/s, LOS rate: 9.053079 deg/s, posRepo size: 4
2021-08-14T01:07:49.197Z,1628903269.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.740005 m,
      bearing: 349.589162 deg,
      approachRate: -13.116705 m/s,
      LOS rate: 9.053079 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 168.123136 deg,
      new cmd heading: 173.057140 deg.

2021-08-14T01:07:51.541Z,1628903271.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:51.913Z,1628903271.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:07:51.913Z,1628903271.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:07:51.913Z,1628903271.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:07:51.914Z,1628903271.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:07:52.317Z,1628903272.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,0073E,186,80,80,88,FF
2021-08-14T01:07:52.317Z,1628903272.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:07:52.317Z,1628903272.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:07:52.319Z,1628903272.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:07:52.728Z,1628903272.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:07:53.137Z,1628903273.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,00B75,18A,80,80,3B,FF
2021-08-14T01:07:53.137Z,1628903273.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:07:53.141Z,1628903273.141 [Micromodem](INFO): Nmea in: $SNTTA,0.098321,0.205676,,,010753.37*5B

2021-08-14T01:07:53.580Z,1628903273.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.480011 m, bearing: 295.136709 deg, deltaT: 4.439703 s, approachRate: 14.582058 m/s, LOS rate: -12.264886 deg/s, posRepo size: 4
2021-08-14T01:07:53.581Z,1628903273.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.264886 deg/s. Setting heading cmd to target bearing of 295.136709deg and heading rate command to 0 deg/s.
2021-08-14T01:07:55.998Z,1628903275.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:07:56.361Z,1628903276.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:07:56.362Z,1628903276.362 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:07:56.362Z,1628903276.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:07:56.363Z,1628903276.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:07:56.776Z,1628903276.776 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,00B75,18A,80,80,3B,FF
2021-08-14T01:07:56.777Z,1628903276.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:07:56.777Z,1628903276.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:07:56.783Z,1628903276.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:07:57.169Z,1628903277.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:07:57.581Z,1628903277.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3FC,000,00BA6,189,80,80,7B,FF
2021-08-14T01:07:57.581Z,1628903277.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:07:58.005Z,1628903278.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010757.83*51

2021-08-14T01:07:58.031Z,1628903278.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.420013 m, bearing: 263.309038 deg, deltaT: 4.372726 s, approachRate: 0.672350 m/s, LOS rate: -7.278679 deg/s, posRepo size: 4
2021-08-14T01:07:58.033Z,1628903278.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.420013 m,
      bearing: 263.309038 deg,
      approachRate: 0.672350 m/s,
      LOS rate: -7.278679 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 295.136709 deg,
      new cmd heading: 295.136709 deg.

2021-08-14T01:08:00.426Z,1628903280.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:08:00.828Z,1628903280.828 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:08:00.829Z,1628903280.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:08:00.829Z,1628903280.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:08:00.831Z,1628903280.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:08:01.275Z,1628903281.275 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3FC,000,00BA6,189,80,80,7B,FF
2021-08-14T01:08:01.275Z,1628903281.275 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:08:01.275Z,1628903281.275 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:08:01.277Z,1628903281.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:08:01.391Z,1628903281.391 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T01:08:01.676Z,1628903281.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:08:02.081Z,1628903282.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39F,000,00BCE,189,80,80,77,FF
2021-08-14T01:08:02.082Z,1628903282.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:08:02.509Z,1628903282.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010802.33*55

2021-08-14T01:08:02.548Z,1628903282.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.820007 m, bearing: 251.254656 deg, deltaT: 4.537973 s, approachRate: 0.528869 m/s, LOS rate: -2.656336 deg/s, posRepo size: 4
2021-08-14T01:08:02.550Z,1628903282.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.820007 m,
      bearing: 251.254656 deg,
      approachRate: 0.528869 m/s,
      LOS rate: -2.656336 deg/s,
      cmd update: -7.969009 deg/s,
      cmd heading: 241.022888 deg,
      new cmd heading: 235.802275 deg.

2021-08-14T01:08:05.026Z,1628903285.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:08:05.317Z,1628903285.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:08:05.318Z,1628903285.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:08:05.318Z,1628903285.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:08:05.319Z,1628903285.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:08:05.717Z,1628903285.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39F,000,00BCE,189,80,80,77,FF
2021-08-14T01:08:05.717Z,1628903285.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:08:05.717Z,1628903285.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:08:05.719Z,1628903285.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:08:06.129Z,1628903286.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:08:06.529Z,1628903286.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20D,000,00BFB,186,80,80,39,FF
2021-08-14T01:08:06.530Z,1628903286.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:08:06.962Z,1628903286.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010806.77*51

2021-08-14T01:08:07.034Z,1628903287.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.520004 m, bearing: 254.419683 deg, deltaT: 4.441807 s, approachRate: 0.607860 m/s, LOS rate: 0.712554 deg/s, posRepo size: 4
2021-08-14T01:08:07.040Z,1628903287.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.520004 m,
      bearing: 254.419683 deg,
      approachRate: 0.607860 m/s,
      LOS rate: 0.712554 deg/s,
      cmd update: 2.137662 deg/s,
      cmd heading: 205.431326 deg,
      new cmd heading: 201.777025 deg.

2021-08-14T01:08:09.402Z,1628903289.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:08:09.772Z,1628903289.772 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:08:09.773Z,1628903289.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:08:09.773Z,1628903289.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:08:09.774Z,1628903289.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:08:10.157Z,1628903290.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20D,000,00BFB,186,80,80,39,FF
2021-08-14T01:08:10.157Z,1628903290.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:08:10.157Z,1628903290.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:08:10.159Z,1628903290.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:08:10.565Z,1628903290.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:08:10.971Z,1628903290.971 [Micromodem](INFO): Nmea in: $SNTTA,0.245939,0.244558,,,010811.21*5E

2021-08-14T01:08:12.198Z,1628903292.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:08:13.817Z,1628903293.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,39,FF
2021-08-14T01:08:13.817Z,1628903293.817 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,39,FF
2021-08-14T01:08:13.817Z,1628903293.817 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:08:15.047Z,1628903295.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:08:15.417Z,1628903295.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:08:15.417Z,1628903295.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:08:15.418Z,1628903295.418 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:08:15.419Z,1628903295.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:08:15.826Z,1628903295.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,39,FF
2021-08-14T01:08:15.826Z,1628903295.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:08:15.826Z,1628903295.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:08:15.828Z,1628903295.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:08:16.228Z,1628903296.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:08:16.634Z,1628903296.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00C08,18A,80,80,39,FF
2021-08-14T01:08:16.635Z,1628903296.635 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:08:17.061Z,1628903297.061 [Micromodem](INFO): Nmea in: $SNTTA,0.100586,,,,010816.88*44

2021-08-14T01:08:17.119Z,1628903297.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.300003 m, bearing: 178.729644 deg, deltaT: 10.074163 s, approachRate: 0.077426 m/s, LOS rate: -7.513283 deg/s, posRepo size: 4
2021-08-14T01:08:17.125Z,1628903297.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.300003 m,
      bearing: 178.729644 deg,
      approachRate: 0.077426 m/s,
      LOS rate: -7.513283 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 226.975119 deg,
      new cmd heading: 227.969066 deg.

2021-08-14T01:08:19.490Z,1628903299.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:08:19.888Z,1628903299.888 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:08:19.889Z,1628903299.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:08:19.889Z,1628903299.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:08:19.891Z,1628903299.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:08:20.265Z,1628903300.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00C08,18A,80,80,39,FF
2021-08-14T01:08:20.265Z,1628903300.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:08:20.265Z,1628903300.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:08:20.267Z,1628903300.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:08:20.681Z,1628903300.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:08:21.073Z,1628903301.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00C01,189,80,80,99,FF
2021-08-14T01:08:21.074Z,1628903301.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:08:21.517Z,1628903301.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010821.31*56

2021-08-14T01:08:21.542Z,1628903301.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.880005 m, bearing: 165.003259 deg, deltaT: 4.489447 s, approachRate: -0.093552 m/s, LOS rate: -3.057478 deg/s, posRepo size: 4
2021-08-14T01:08:21.544Z,1628903301.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.880005 m,
      bearing: 165.003259 deg,
      approachRate: -0.093552 m/s,
      LOS rate: -3.057478 deg/s,
      cmd update: -9.172434 deg/s,
      cmd heading: 173.150210 deg,
      new cmd heading: 168.317798 deg.

2021-08-14T01:08:24.006Z,1628903304.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:08:24.301Z,1628903304.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:08:24.301Z,1628903304.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:08:24.301Z,1628903304.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:08:24.302Z,1628903304.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:08:24.713Z,1628903304.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00C01,189,80,80,99,FF
2021-08-14T01:08:24.713Z,1628903304.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:08:24.713Z,1628903304.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:08:24.715Z,1628903304.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:08:25.105Z,1628903305.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:08:25.522Z,1628903305.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BEC,189,80,80,C9,FF
2021-08-14T01:08:25.522Z,1628903305.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:08:25.966Z,1628903305.966 [Micromodem](INFO): Nmea in: $SNTTA,,0.482105,,,010825.77*44

2021-08-14T01:08:26.027Z,1628903306.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.619995 m, bearing: 147.781374 deg, deltaT: 4.406940 s, approachRate: -0.285915 m/s, LOS rate: -3.907901 deg/s, posRepo size: 4
2021-08-14T01:08:26.029Z,1628903306.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.619995 m,
      bearing: 147.781374 deg,
      approachRate: -0.285915 m/s,
      LOS rate: -3.907901 deg/s,
      cmd update: -11.723702 deg/s,
      cmd heading: 132.701068 deg,
      new cmd heading: 128.314920 deg.

2021-08-14T01:08:28.359Z,1628903308.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:08:28.780Z,1628903308.780 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:08:28.780Z,1628903308.780 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:08:28.781Z,1628903308.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:08:28.783Z,1628903308.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:08:29.145Z,1628903309.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BEC,189,80,80,C9,FF
2021-08-14T01:08:29.145Z,1628903309.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:08:29.145Z,1628903309.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:08:29.147Z,1628903309.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:08:29.568Z,1628903309.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:08:30.019Z,1628903310.019 [Micromodem](INFO): Nmea in: $SNTTA,0.305292,0.305361,,,010830.20*5B

2021-08-14T01:08:31.174Z,1628903311.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,329,000,0462F,189,80,80,83,FF
2021-08-14T01:08:31.175Z,1628903311.175 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:08:31.605Z,1628903311.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1040.520020 m, bearing: 150.084637 deg, deltaT: 5.691100 s, approachRate: 157.245529 m/s, LOS rate: 0.404713 deg/s, posRepo size: 4
2021-08-14T01:08:31.607Z,1628903311.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1040.520020 m,
      bearing: 150.084637 deg,
      approachRate: 157.245529 m/s,
      LOS rate: 0.404713 deg/s,
      cmd update: 1.214139 deg/s,
      cmd heading: 66.062525 deg,
      new cmd heading: 61.700405 deg.

2021-08-14T01:08:34.066Z,1628903314.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:08:34.416Z,1628903314.416 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:08:34.416Z,1628903314.416 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:08:34.416Z,1628903314.416 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:08:34.417Z,1628903314.417 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:08:34.841Z,1628903314.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
329,000,0462F,189,80,80,83,FF
2021-08-14T01:08:34.841Z,1628903314.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:08:34.841Z,1628903314.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:08:34.842Z,1628903314.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:08:35.228Z,1628903315.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:08:35.609Z,1628903315.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C1,000,0462F,189,80,80,83,FF
2021-08-14T01:08:35.610Z,1628903315.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:08:36.047Z,1628903316.047 [Micromodem](INFO): Nmea in: $SNTTA,0.458423,0.458048,,,010835.89*59

2021-08-14T01:08:36.146Z,1628903316.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1040.520020 m, bearing: 150.613881 deg, deltaT: 4.414432 s, approachRate: 0.000000 m/s, LOS rate: 0.119889 deg/s, posRepo size: 4
2021-08-14T01:08:36.152Z,1628903316.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1040.520020 m,
      bearing: 150.613881 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.119889 deg/s,
      cmd update: 0.359668 deg/s,
      cmd heading: 71.402529 deg,
      new cmd heading: 72.027541 deg.

2021-08-14T01:08:38.491Z,1628903318.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:08:38.849Z,1628903318.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:08:38.849Z,1628903318.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:08:38.849Z,1628903318.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:08:38.850Z,1628903318.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:08:39.257Z,1628903319.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C1,000,0462F,189,80,80,83,FF
2021-08-14T01:08:39.257Z,1628903319.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:08:39.257Z,1628903319.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:08:39.260Z,1628903319.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:08:39.660Z,1628903319.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:08:40.065Z,1628903320.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,00B6E,183,80,80,A1,FF
2021-08-14T01:08:40.065Z,1628903320.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:08:40.501Z,1628903320.501 [Micromodem](INFO): Nmea in: $SNTTA,0.091816,,,,010840.31*48

2021-08-14T01:08:40.533Z,1628903320.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.059998 m, bearing: 154.431342 deg, deltaT: 4.530187 s, approachRate: -199.210327 m/s, LOS rate: 0.842672 deg/s, posRepo size: 4
2021-08-14T01:08:40.535Z,1628903320.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.059998 m,
      bearing: 154.431342 deg,
      approachRate: -199.210327 m/s,
      LOS rate: 0.842672 deg/s,
      cmd update: 2.528016 deg/s,
      cmd heading: 73.040689 deg,
      new cmd heading: 73.165076 deg.

2021-08-14T01:08:42.932Z,1628903322.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:08:43.293Z,1628903323.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:08:43.293Z,1628903323.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:08:43.293Z,1628903323.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:08:43.294Z,1628903323.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:08:43.705Z,1628903323.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,00B6E,183,80,80,A1,FF
2021-08-14T01:08:43.705Z,1628903323.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:08:43.705Z,1628903323.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:08:43.707Z,1628903323.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:08:44.122Z,1628903324.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:08:44.509Z,1628903324.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,00546,187,80,80,97,FF
2021-08-14T01:08:44.510Z,1628903324.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:08:44.944Z,1628903324.944 [Micromodem](INFO): Nmea in: $SNTTA,0.092242,,,,010844.76*47

2021-08-14T01:08:45.023Z,1628903325.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.500000 m, bearing: 153.580519 deg, deltaT: 4.340164 s, approachRate: -21.787195 m/s, LOS rate: -0.196035 deg/s, posRepo size: 4
2021-08-14T01:08:45.025Z,1628903325.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.500000 m,
      bearing: 153.580519 deg,
      approachRate: -21.787195 m/s,
      LOS rate: -0.196035 deg/s,
      cmd update: -0.588104 deg/s,
      cmd heading: 84.012586 deg,
      new cmd heading: 85.269657 deg.

2021-08-14T01:08:47.365Z,1628903327.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:08:47.737Z,1628903327.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:08:47.737Z,1628903327.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:08:47.737Z,1628903327.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:08:47.738Z,1628903327.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:08:48.141Z,1628903328.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,00546,187,80,80,97,FF
2021-08-14T01:08:48.141Z,1628903328.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:08:48.141Z,1628903328.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:08:48.143Z,1628903328.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:08:48.549Z,1628903328.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:08:48.953Z,1628903328.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,00B15,186,80,80,9C,FF
2021-08-14T01:08:48.953Z,1628903328.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:08:49.382Z,1628903329.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010849.19*52

2021-08-14T01:08:49.415Z,1628903329.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.720001 m, bearing: 98.056033 deg, deltaT: 4.480362 s, approachRate: 19.913570 m/s, LOS rate: -12.392857 deg/s, posRepo size: 4
2021-08-14T01:08:49.416Z,1628903329.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.392857 deg/s. Setting heading cmd to target bearing of 98.056033deg and heading rate command to 0 deg/s.
2021-08-14T01:08:51.843Z,1628903331.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:08:52.193Z,1628903332.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:08:52.193Z,1628903332.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:08:52.193Z,1628903332.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:08:52.194Z,1628903332.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:08:52.585Z,1628903332.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,00B15,186,80,80,9C,FF
2021-08-14T01:08:52.585Z,1628903332.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:08:52.586Z,1628903332.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:08:52.587Z,1628903332.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:08:52.993Z,1628903332.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:08:53.401Z,1628903333.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B46,000,00AF3,189,80,80,89,FF
2021-08-14T01:08:53.402Z,1628903333.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:08:53.853Z,1628903333.853 [Micromodem](INFO): Nmea in: $SNTTA,0.100429,,,,010853.64*43

2021-08-14T01:08:53.965Z,1628903333.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.680008 m, bearing: 163.309591 deg, deltaT: 4.448231 s, approachRate: -0.458608 m/s, LOS rate: 14.669552 deg/s, posRepo size: 4
2021-08-14T01:08:53.966Z,1628903333.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.669552 deg/s. Setting heading cmd to target bearing of 163.309591deg and heading rate command to 0 deg/s.
2021-08-14T01:08:56.269Z,1628903336.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:08:56.629Z,1628903336.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:08:56.629Z,1628903336.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:08:56.629Z,1628903336.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:08:56.630Z,1628903336.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:08:57.029Z,1628903337.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B46,000,00AF3,189,80,80,89,FF
2021-08-14T01:08:57.029Z,1628903337.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:08:57.029Z,1628903337.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:08:57.031Z,1628903337.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:08:57.441Z,1628903337.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:08:57.845Z,1628903337.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B23,000,00AD9,18A,80,80,A8,FF
2021-08-14T01:08:57.846Z,1628903337.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:08:58.277Z,1628903338.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010858.08*52

2021-08-14T01:08:58.325Z,1628903338.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.119995 m, bearing: 163.636634 deg, deltaT: 4.515528 s, approachRate: -0.345477 m/s, LOS rate: 0.072426 deg/s, posRepo size: 4
2021-08-14T01:08:58.327Z,1628903338.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.119995 m,
      bearing: 163.636634 deg,
      approachRate: -0.345477 m/s,
      LOS rate: 0.072426 deg/s,
      cmd update: 0.217279 deg/s,
      cmd heading: 163.309591 deg,
      new cmd heading: 163.309591 deg.

2021-08-14T01:09:00.703Z,1628903340.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:01.069Z,1628903341.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:09:01.069Z,1628903341.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:09:01.069Z,1628903341.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:09:01.070Z,1628903341.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:09:01.481Z,1628903341.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B23,000,00AD9,18A,80,80,A8,FF
2021-08-14T01:09:01.481Z,1628903341.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:09:01.482Z,1628903341.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:09:01.483Z,1628903341.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:09:01.918Z,1628903341.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:09:02.289Z,1628903342.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D33,000,00AB8,189,80,80,95,FF
2021-08-14T01:09:02.290Z,1628903342.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:09:02.721Z,1628903342.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010902.53*52

2021-08-14T01:09:02.779Z,1628903342.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.140007 m, bearing: 154.917693 deg, deltaT: 4.341387 s, approachRate: -0.456073 m/s, LOS rate: -2.008331 deg/s, posRepo size: 4
2021-08-14T01:09:02.794Z,1628903342.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.140007 m,
      bearing: 154.917693 deg,
      approachRate: -0.456073 m/s,
      LOS rate: -2.008331 deg/s,
      cmd update: -6.024993 deg/s,
      cmd heading: 164.255414 deg,
      new cmd heading: 164.356044 deg.

2021-08-14T01:09:05.165Z,1628903345.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:05.517Z,1628903345.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:09:05.517Z,1628903345.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:09:05.517Z,1628903345.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:09:05.518Z,1628903345.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:09:05.969Z,1628903345.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D33,000,00AB8,189,80,80,95,FF
2021-08-14T01:09:05.969Z,1628903345.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:09:05.969Z,1628903345.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:09:05.970Z,1628903345.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:09:06.324Z,1628903346.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:09:06.733Z,1628903346.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9A,000,00A8F,189,80,80,95,FF
2021-08-14T01:09:06.734Z,1628903346.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:09:07.159Z,1628903347.159 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010907.02*53

2021-08-14T01:09:07.205Z,1628903347.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.680008 m, bearing: 168.515575 deg, deltaT: 4.485970 s, approachRate: -0.548376 m/s, LOS rate: 3.031202 deg/s, posRepo size: 4
2021-08-14T01:09:07.207Z,1628903347.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.680008 m,
      bearing: 168.515575 deg,
      approachRate: -0.548376 m/s,
      LOS rate: 3.031202 deg/s,
      cmd update: 9.093606 deg/s,
      cmd heading: 137.276611 deg,
      new cmd heading: 134.773245 deg.

2021-08-14T01:09:09.575Z,1628903349.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:09.979Z,1628903349.979 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:09:09.981Z,1628903349.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:09:09.981Z,1628903349.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:09:09.983Z,1628903349.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:09:10.359Z,1628903350.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9A,000,00A8F,189,80,80,95,FF
2021-08-14T01:09:10.359Z,1628903350.359 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:09:10.359Z,1628903350.359 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:09:10.363Z,1628903350.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:09:10.794Z,1628903350.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:09:11.181Z,1628903351.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,00A67,186,80,80,C8,FF
2021-08-14T01:09:11.181Z,1628903351.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:09:11.609Z,1628903351.609 [Micromodem](INFO): Nmea in: $SNTTA,0.083689,,,,010911.41*41

2021-08-14T01:09:11.645Z,1628903351.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.279999 m, bearing: 161.696259 deg, deltaT: 4.400863 s, approachRate: -0.545350 m/s, LOS rate: -1.549540 deg/s, posRepo size: 4
2021-08-14T01:09:11.647Z,1628903351.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.279999 m,
      bearing: 161.696259 deg,
      approachRate: -0.545350 m/s,
      LOS rate: -1.549540 deg/s,
      cmd update: -4.648622 deg/s,
      cmd heading: 177.372476 deg,
      new cmd heading: 181.433853 deg.

2021-08-14T01:09:14.074Z,1628903354.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:14.421Z,1628903354.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:09:14.421Z,1628903354.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:09:14.422Z,1628903354.422 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:09:14.423Z,1628903354.423 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:09:14.825Z,1628903354.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,00A67,186,80,80,C8,FF
2021-08-14T01:09:14.825Z,1628903354.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:09:14.825Z,1628903354.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:09:14.827Z,1628903354.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:09:15.213Z,1628903355.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:09:15.625Z,1628903355.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,00A36,184,80,80,AA,FF
2021-08-14T01:09:15.625Z,1628903355.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:09:16.053Z,1628903356.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010915.88*52

2021-08-14T01:09:16.113Z,1628903356.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.340004 m, bearing: 161.996555 deg, deltaT: 4.444035 s, approachRate: -0.661560 m/s, LOS rate: 0.067573 deg/s, posRepo size: 4
2021-08-14T01:09:16.115Z,1628903356.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.340004 m,
      bearing: 161.996555 deg,
      approachRate: -0.661560 m/s,
      LOS rate: 0.067573 deg/s,
      cmd update: 0.202719 deg/s,
      cmd heading: 156.714722 deg,
      new cmd heading: 154.525300 deg.

2021-08-14T01:09:18.467Z,1628903358.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:18.845Z,1628903358.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:09:18.845Z,1628903358.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:09:18.845Z,1628903358.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:09:18.846Z,1628903358.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:09:19.253Z,1628903359.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,00A36,184,80,80,AA,FF
2021-08-14T01:09:19.253Z,1628903359.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:09:19.253Z,1628903359.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:09:19.255Z,1628903359.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:09:19.665Z,1628903359.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:09:20.061Z,1628903360.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09C,000,00A07,186,80,80,B6,FF
2021-08-14T01:09:20.062Z,1628903360.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:09:20.501Z,1628903360.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010920.31*56

2021-08-14T01:09:20.523Z,1628903360.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.519997 m, bearing: 159.246830 deg, deltaT: 4.509724 s, approachRate: -0.625317 m/s, LOS rate: -0.609732 deg/s, posRepo size: 4
2021-08-14T01:09:20.525Z,1628903360.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.519997 m,
      bearing: 159.246830 deg,
      approachRate: -0.625317 m/s,
      LOS rate: -0.609732 deg/s,
      cmd update: -1.829197 deg/s,
      cmd heading: 157.628091 deg,
      new cmd heading: 157.704201 deg.

2021-08-14T01:09:22.918Z,1628903362.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:23.289Z,1628903363.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:09:23.289Z,1628903363.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:09:23.289Z,1628903363.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:09:23.290Z,1628903363.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:09:23.697Z,1628903363.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09C,000,00A07,186,80,80,B6,FF
2021-08-14T01:09:23.697Z,1628903363.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:09:23.697Z,1628903363.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:09:23.699Z,1628903363.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:09:24.097Z,1628903364.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:09:24.502Z,1628903364.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,009D6,184,80,80,B5,FF
2021-08-14T01:09:24.502Z,1628903364.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:09:24.945Z,1628903364.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010924.75*52

2021-08-14T01:09:25.028Z,1628903365.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.580009 m, bearing: 160.648590 deg, deltaT: 4.371400 s, approachRate: -0.672550 m/s, LOS rate: 0.320666 deg/s, posRepo size: 4
2021-08-14T01:09:25.030Z,1628903365.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.580009 m,
      bearing: 160.648590 deg,
      approachRate: -0.672550 m/s,
      LOS rate: 0.320666 deg/s,
      cmd update: 0.961998 deg/s,
      cmd heading: 149.624442 deg,
      new cmd heading: 148.708298 deg.

2021-08-14T01:09:27.351Z,1628903367.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:27.740Z,1628903367.740 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:09:27.740Z,1628903367.740 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:09:27.740Z,1628903367.740 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:09:27.741Z,1628903367.741 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:09:28.145Z,1628903368.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,009D6,184,80,80,B5,FF
2021-08-14T01:09:28.145Z,1628903368.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:09:28.145Z,1628903368.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:09:28.147Z,1628903368.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:09:28.553Z,1628903368.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:09:28.958Z,1628903368.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,009A3,183,80,80,CA,FF
2021-08-14T01:09:28.958Z,1628903368.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:09:29.397Z,1628903369.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010929.20*5F

2021-08-14T01:09:29.416Z,1628903369.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.519997 m, bearing: 159.561251 deg, deltaT: 4.470939 s, approachRate: -0.684423 m/s, LOS rate: -0.243201 deg/s, posRepo size: 4
2021-08-14T01:09:29.418Z,1628903369.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.519997 m,
      bearing: 159.561251 deg,
      approachRate: -0.684423 m/s,
      LOS rate: -0.243201 deg/s,
      cmd update: -0.729604 deg/s,
      cmd heading: 153.925269 deg,
      new cmd heading: 154.331145 deg.

2021-08-14T01:09:31.842Z,1628903371.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:32.185Z,1628903372.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:09:32.185Z,1628903372.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:09:32.185Z,1628903372.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:09:32.186Z,1628903372.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:09:32.594Z,1628903372.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,009A3,183,80,80,CA,FF
2021-08-14T01:09:32.594Z,1628903372.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:09:32.594Z,1628903372.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:09:32.596Z,1628903372.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:09:32.993Z,1628903372.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:09:33.403Z,1628903373.403 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,00972,183,80,80,83,FF
2021-08-14T01:09:33.403Z,1628903373.403 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:09:33.872Z,1628903373.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010933.65*55

2021-08-14T01:09:33.949Z,1628903373.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.580009 m, bearing: 159.104517 deg, deltaT: 4.425080 s, approachRate: -0.664392 m/s, LOS rate: -0.103215 deg/s, posRepo size: 4
2021-08-14T01:09:33.951Z,1628903373.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.580009 m,
      bearing: 159.104517 deg,
      approachRate: -0.664392 m/s,
      LOS rate: -0.103215 deg/s,
      cmd update: -0.309645 deg/s,
      cmd heading: 150.696391 deg,
      new cmd heading: 150.310249 deg.

2021-08-14T01:09:35.936Z,1628903375.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:36.221Z,1628903376.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:09:36.221Z,1628903376.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:09:36.221Z,1628903376.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:09:36.222Z,1628903376.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:09:36.629Z,1628903376.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,00972,183,80,80,83,FF
2021-08-14T01:09:36.629Z,1628903376.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:09:36.629Z,1628903376.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:09:36.631Z,1628903376.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:09:37.040Z,1628903377.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:09:37.433Z,1628903377.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,00942,185,80,80,63,FF
2021-08-14T01:09:37.434Z,1628903377.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:09:37.892Z,1628903377.892 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010937.68*5C

2021-08-14T01:09:37.945Z,1628903377.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.700005 m, bearing: 159.045203 deg, deltaT: 4.063522 s, approachRate: -0.708746 m/s, LOS rate: -0.014597 deg/s, posRepo size: 4
2021-08-14T01:09:37.947Z,1628903377.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.700005 m,
      bearing: 159.045203 deg,
      approachRate: -0.708746 m/s,
      LOS rate: -0.014597 deg/s,
      cmd update: -0.043790 deg/s,
      cmd heading: 149.439396 deg,
      new cmd heading: 149.295464 deg.

2021-08-14T01:09:40.307Z,1628903380.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:40.661Z,1628903380.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:09:40.661Z,1628903380.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:09:40.661Z,1628903380.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:09:40.662Z,1628903380.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:09:41.097Z,1628903381.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,00942,185,80,80,63,FF
2021-08-14T01:09:41.097Z,1628903381.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:09:41.097Z,1628903381.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:09:41.098Z,1628903381.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:09:41.480Z,1628903381.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:09:41.905Z,1628903381.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC1,000,00911,184,80,80,AE,FF
2021-08-14T01:09:41.907Z,1628903381.907 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:09:42.299Z,1628903382.299 [Micromodem](INFO): Nmea in: $SNTTA,0.096744,,,,010942.15*42

2021-08-14T01:09:42.335Z,1628903382.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.760002 m, bearing: 159.542714 deg, deltaT: 4.500529 s, approachRate: -0.653257 m/s, LOS rate: 0.110545 deg/s, posRepo size: 4
2021-08-14T01:09:42.338Z,1628903382.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.760002 m,
      bearing: 159.542714 deg,
      approachRate: -0.653257 m/s,
      LOS rate: 0.110545 deg/s,
      cmd update: 0.331635 deg/s,
      cmd heading: 149.242254 deg,
      new cmd heading: 149.226729 deg.

2021-08-14T01:09:44.752Z,1628903384.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:45.121Z,1628903385.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:09:45.121Z,1628903385.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:09:45.122Z,1628903385.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:09:45.123Z,1628903385.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:09:45.509Z,1628903385.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC1,000,00911,184,80,80,AE,FF
2021-08-14T01:09:45.510Z,1628903385.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:09:45.510Z,1628903385.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:09:45.512Z,1628903385.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:09:45.974Z,1628903385.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:09:45.997Z,1628903385.997 [Micromodem](INFO): Nmea in: PROC,0.20.0.39330*71

2021-08-14T01:09:45.997Z,1628903385.997 [Micromodem](ERROR): Response from modem failed NMEA checksum: PROC,0.20.0.39330*71
 expected 0
2021-08-14T01:09:47.583Z,1628903387.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:49.181Z,1628903389.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,184,80,80,AE,FF
2021-08-14T01:09:49.181Z,1628903389.181 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,184,80,80,AE,FF
2021-08-14T01:09:49.181Z,1628903389.181 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:09:50.094Z,1628903390.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:50.389Z,1628903390.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:09:50.389Z,1628903390.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:09:50.389Z,1628903390.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:09:50.390Z,1628903390.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:09:50.825Z,1628903390.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,184,80,80,AE,FF
2021-08-14T01:09:50.825Z,1628903390.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:09:50.826Z,1628903390.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:09:50.827Z,1628903390.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:09:51.197Z,1628903391.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:09:51.607Z,1628903391.607 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,008A8,187,80,80,AE,FF
2021-08-14T01:09:51.608Z,1628903391.608 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:09:52.027Z,1628903392.027 [Micromodem](INFO): Nmea in: $SNTTA,0.073492,,,,010951.88*47

2021-08-14T01:09:52.109Z,1628903392.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.459999 m, bearing: 161.178066 deg, deltaT: 9.643948 s, approachRate: -0.653260 m/s, LOS rate: 0.169573 deg/s, posRepo size: 4
2021-08-14T01:09:52.111Z,1628903392.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.459999 m,
      bearing: 161.178066 deg,
      approachRate: -0.653260 m/s,
      LOS rate: 0.169573 deg/s,
      cmd update: 0.508719 deg/s,
      cmd heading: 152.441367 deg,
      new cmd heading: 152.599779 deg.

2021-08-14T01:09:54.455Z,1628903394.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:54.838Z,1628903394.838 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:09:54.838Z,1628903394.838 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:09:54.838Z,1628903394.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:09:54.839Z,1628903394.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:09:55.229Z,1628903395.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,008A8,187,80,80,AE,FF
2021-08-14T01:09:55.229Z,1628903395.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:09:55.230Z,1628903395.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:09:55.231Z,1628903395.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:09:55.792Z,1628903395.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:09:56.041Z,1628903396.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,00872,184,80,80,A3,FF
2021-08-14T01:09:56.042Z,1628903396.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:09:56.489Z,1628903396.489 [Micromodem](INFO): Nmea in: $SNTTA,0.072303,,,,010956.28*44

2021-08-14T01:09:56.511Z,1628903396.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.220001 m, bearing: 161.018691 deg, deltaT: 4.477202 s, approachRate: -0.723666 m/s, LOS rate: -0.035597 deg/s, posRepo size: 4
2021-08-14T01:09:56.513Z,1628903396.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.220001 m,
      bearing: 161.018691 deg,
      approachRate: -0.723666 m/s,
      LOS rate: -0.035597 deg/s,
      cmd update: -0.106791 deg/s,
      cmd heading: 154.718861 deg,
      new cmd heading: 154.925850 deg.

2021-08-14T01:09:58.927Z,1628903398.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:09:59.274Z,1628903399.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:09:59.275Z,1628903399.275 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:09:59.275Z,1628903399.275 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:09:59.276Z,1628903399.276 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:09:59.674Z,1628903399.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,00872,184,80,80,A3,FF
2021-08-14T01:09:59.674Z,1628903399.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:09:59.675Z,1628903399.675 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:09:59.692Z,1628903399.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:10:00.080Z,1628903400.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:10:00.482Z,1628903400.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,00846,184,80,80,CA,FF
2021-08-14T01:10:00.483Z,1628903400.483 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:10:00.914Z,1628903400.914 [Micromodem](INFO): Nmea in: $SNTTA,,0.032207,,,011000.75*46

2021-08-14T01:10:00.948Z,1628903400.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.580002 m, bearing: 161.471956 deg, deltaT: 4.446291 s, approachRate: -0.593753 m/s, LOS rate: 0.101942 deg/s, posRepo size: 4
2021-08-14T01:10:00.950Z,1628903400.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.580002 m,
      bearing: 161.471956 deg,
      approachRate: -0.593753 m/s,
      LOS rate: 0.101942 deg/s,
      cmd update: 0.305827 deg/s,
      cmd heading: 154.244435 deg,
      new cmd heading: 154.201577 deg.

2021-08-14T01:10:03.351Z,1628903403.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:10:03.713Z,1628903403.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:10:03.713Z,1628903403.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:10:03.714Z,1628903403.714 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:10:03.715Z,1628903403.715 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:10:04.121Z,1628903404.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,00846,184,80,80,CA,FF
2021-08-14T01:10:04.122Z,1628903404.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:10:04.122Z,1628903404.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:10:04.123Z,1628903404.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:10:04.525Z,1628903404.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:10:04.937Z,1628903404.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00813,185,80,80,AA,FF
2021-08-14T01:10:04.937Z,1628903404.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:10:05.371Z,1628903405.371 [Micromodem](INFO): Nmea in: $SNTTA,0.068513,,,,011005.17*4A

2021-08-14T01:10:05.427Z,1628903405.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.520004 m, bearing: 161.922052 deg, deltaT: 4.463378 s, approachRate: -0.685579 m/s, LOS rate: 0.100842 deg/s, posRepo size: 4
2021-08-14T01:10:05.433Z,1628903405.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.520004 m,
      bearing: 161.922052 deg,
      approachRate: -0.685579 m/s,
      LOS rate: 0.100842 deg/s,
      cmd update: 0.302526 deg/s,
      cmd heading: 155.601586 deg,
      new cmd heading: 155.736764 deg.

2021-08-14T01:10:07.811Z,1628903407.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:10:08.169Z,1628903408.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:10:08.169Z,1628903408.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:10:08.169Z,1628903408.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:10:08.170Z,1628903408.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:10:08.569Z,1628903408.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00813,185,80,80,AA,FF
2021-08-14T01:10:08.569Z,1628903408.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:10:08.569Z,1628903408.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:10:08.571Z,1628903408.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:10:08.973Z,1628903408.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:10:09.378Z,1628903409.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,007E1,183,80,80,A7,FF
2021-08-14T01:10:09.379Z,1628903409.379 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:10:09.831Z,1628903409.831 [Micromodem](INFO): Nmea in: $SNTTA,0.086583,,,,011009.62*4D

2021-08-14T01:10:09.925Z,1628903409.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.519997 m, bearing: 160.420503 deg, deltaT: 4.417441 s, approachRate: -0.679128 m/s, LOS rate: -0.339914 deg/s, posRepo size: 4
2021-08-14T01:10:09.927Z,1628903409.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.519997 m,
      bearing: 160.420503 deg,
      approachRate: -0.679128 m/s,
      LOS rate: -0.339914 deg/s,
      cmd update: -1.019741 deg/s,
      cmd heading: 156.943446 deg,
      new cmd heading: 157.096234 deg.

2021-08-14T01:10:11.937Z,1628903411.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:10:12.205Z,1628903412.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:10:12.205Z,1628903412.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:10:12.205Z,1628903412.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:10:12.206Z,1628903412.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:10:12.611Z,1628903412.611 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,007E1,183,80,80,A7,FF
2021-08-14T01:10:12.611Z,1628903412.611 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:10:12.611Z,1628903412.611 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:10:12.613Z,1628903412.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:10:13.013Z,1628903413.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:10:13.421Z,1628903413.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,007B8,183,80,80,BE,FF
2021-08-14T01:10:13.421Z,1628903413.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:10:13.856Z,1628903413.856 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011013.66*5C

2021-08-14T01:10:13.940Z,1628903413.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.059998 m, bearing: 161.218091 deg, deltaT: 4.006495 s, approachRate: -0.614003 m/s, LOS rate: 0.199074 deg/s, posRepo size: 4
2021-08-14T01:10:13.942Z,1628903413.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.059998 m,
      bearing: 161.218091 deg,
      approachRate: -0.614003 m/s,
      LOS rate: 0.199074 deg/s,
      cmd update: 0.597222 deg/s,
      cmd heading: 152.845930 deg,
      new cmd heading: 152.334557 deg.

2021-08-14T01:10:15.943Z,1628903415.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:10:16.245Z,1628903416.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:10:16.245Z,1628903416.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:10:16.245Z,1628903416.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:10:16.246Z,1628903416.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:10:16.646Z,1628903416.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,007B8,183,80,80,BE,FF
2021-08-14T01:10:16.646Z,1628903416.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:10:16.646Z,1628903416.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:10:16.647Z,1628903416.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:10:17.053Z,1628903417.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:10:17.461Z,1628903417.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,00786,182,80,80,B4,FF
2021-08-14T01:10:17.462Z,1628903417.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:10:17.913Z,1628903417.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011017.70*5F

2021-08-14T01:10:17.972Z,1628903417.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.060005 m, bearing: 160.737178 deg, deltaT: 4.044978 s, approachRate: -0.741659 m/s, LOS rate: -0.118892 deg/s, posRepo size: 4
2021-08-14T01:10:17.974Z,1628903417.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.060005 m,
      bearing: 160.737178 deg,
      approachRate: -0.741659 m/s,
      LOS rate: -0.118892 deg/s,
      cmd update: -0.356675 deg/s,
      cmd heading: 155.261657 deg,
      new cmd heading: 155.553640 deg.

2021-08-14T01:10:20.298Z,1628903420.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:10:20.681Z,1628903420.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:10:20.681Z,1628903420.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:10:20.681Z,1628903420.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:10:20.682Z,1628903420.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:10:21.090Z,1628903421.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,00786,182,80,80,B4,FF
2021-08-14T01:10:21.090Z,1628903421.090 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:10:21.090Z,1628903421.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:10:21.091Z,1628903421.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:10:21.493Z,1628903421.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:10:21.941Z,1628903421.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00754,183,80,80,AD,FF
2021-08-14T01:10:21.942Z,1628903421.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:10:21.945Z,1628903421.945 [Micromodem](INFO): Nmea in: $SNTTA,0.062191,0.293547,,,011022.14*58

2021-08-14T01:10:22.332Z,1628903422.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.059998 m, bearing: 160.533051 deg, deltaT: 4.553152 s, approachRate: -0.658886 m/s, LOS rate: -0.044832 deg/s, posRepo size: 4
2021-08-14T01:10:22.334Z,1628903422.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.059998 m,
      bearing: 160.533051 deg,
      approachRate: -0.658886 m/s,
      LOS rate: -0.044832 deg/s,
      cmd update: -0.134496 deg/s,
      cmd heading: 153.637776 deg,
      new cmd heading: 153.532357 deg.

2021-08-14T01:10:24.786Z,1628903424.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:10:25.125Z,1628903425.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:10:25.125Z,1628903425.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:10:25.125Z,1628903425.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:10:25.126Z,1628903425.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:10:25.529Z,1628903425.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00754,183,80,80,AD,FF
2021-08-14T01:10:25.529Z,1628903425.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:10:25.530Z,1628903425.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:10:25.531Z,1628903425.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:10:25.979Z,1628903425.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:10:25.992Z,1628903425.992 [Micromodem](INFO): Nmea in: *7F

2021-08-14T01:10:25.993Z,1628903425.993 [Micromodem](ERROR): Response from modem failed NMEA checksum: *7F
 expected 0
2021-08-14T01:10:26.337Z,1628903426.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD1,000,00724,185,80,80,9F,FF
2021-08-14T01:10:26.338Z,1628903426.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:10:26.814Z,1628903426.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.180000 m, bearing: 162.140563 deg, deltaT: 4.356848 s, approachRate: -0.661028 m/s, LOS rate: 0.368962 deg/s, posRepo size: 4
2021-08-14T01:10:26.816Z,1628903426.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.180000 m,
      bearing: 162.140563 deg,
      approachRate: -0.661028 m/s,
      LOS rate: 0.368962 deg/s,
      cmd update: 1.106887 deg/s,
      cmd heading: 153.053470 deg,
      new cmd heading: 152.995127 deg.

2021-08-14T01:10:29.183Z,1628903429.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:10:29.573Z,1628903429.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:10:29.573Z,1628903429.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:10:29.573Z,1628903429.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:10:29.574Z,1628903429.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:10:29.973Z,1628903429.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD1,000,00724,185,80,80,9F,FF
2021-08-14T01:10:29.973Z,1628903429.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:10:29.973Z,1628903429.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:10:29.975Z,1628903429.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:10:30.387Z,1628903430.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:10:30.821Z,1628903430.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,006F1,184,80,80,8F,FF
2021-08-14T01:10:30.821Z,1628903430.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:10:31.221Z,1628903431.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011031.03*5F

2021-08-14T01:10:31.243Z,1628903431.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.120003 m, bearing: 162.766400 deg, deltaT: 4.478436 s, approachRate: -0.683274 m/s, LOS rate: 0.139744 deg/s, posRepo size: 4
2021-08-14T01:10:31.245Z,1628903431.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.120003 m,
      bearing: 162.766400 deg,
      approachRate: -0.683274 m/s,
      LOS rate: 0.139744 deg/s,
      cmd update: 0.419233 deg/s,
      cmd heading: 158.024681 deg,
      new cmd heading: 158.435976 deg.

2021-08-14T01:10:33.626Z,1628903433.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:10:34.013Z,1628903434.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:10:34.013Z,1628903434.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:10:34.013Z,1628903434.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:10:34.014Z,1628903434.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:10:34.425Z,1628903434.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,006F1,184,80,80,8F,FF
2021-08-14T01:10:34.425Z,1628903434.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:10:34.425Z,1628903434.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:10:34.427Z,1628903434.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:10:34.833Z,1628903434.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:10:35.229Z,1628903435.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,006C4,184,80,80,A0,FF
2021-08-14T01:10:35.229Z,1628903435.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:10:35.665Z,1628903435.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011035.48*54

2021-08-14T01:10:35.705Z,1628903435.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.419998 m, bearing: 161.036955 deg, deltaT: 4.374386 s, approachRate: -0.617231 m/s, LOS rate: -0.395357 deg/s, posRepo size: 4
2021-08-14T01:10:35.707Z,1628903435.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.419998 m,
      bearing: 161.036955 deg,
      approachRate: -0.617231 m/s,
      LOS rate: -0.395357 deg/s,
      cmd update: -1.186072 deg/s,
      cmd heading: 159.858597 deg,
      new cmd heading: 160.050616 deg.

2021-08-14T01:10:38.138Z,1628903438.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:10:38.457Z,1628903438.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:10:38.457Z,1628903438.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:10:38.457Z,1628903438.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:10:38.458Z,1628903438.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:10:38.861Z,1628903438.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,006C4,184,80,80,A0,FF
2021-08-14T01:10:38.861Z,1628903438.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:10:38.862Z,1628903438.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:10:38.863Z,1628903438.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:10:39.277Z,1628903439.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:10:39.669Z,1628903439.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,00691,185,80,80,A2,FF
2021-08-14T01:10:39.670Z,1628903439.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:10:40.116Z,1628903440.116 [Micromodem](INFO): Nmea in: $SNTTA,0.063824,0.447811,,,011039.91*58

2021-08-14T01:10:40.189Z,1628903440.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.360001 m, bearing: 161.756788 deg, deltaT: 4.472733 s, approachRate: -0.684145 m/s, LOS rate: 0.160938 deg/s, posRepo size: 4
2021-08-14T01:10:40.191Z,1628903440.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.360001 m,
      bearing: 161.756788 deg,
      approachRate: -0.684145 m/s,
      LOS rate: 0.160938 deg/s,
      cmd update: 0.482815 deg/s,
      cmd heading: 154.559137 deg,
      new cmd heading: 154.000596 deg.

2021-08-14T01:10:42.543Z,1628903442.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:10:42.909Z,1628903442.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:10:42.909Z,1628903442.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:10:42.909Z,1628903442.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:10:42.910Z,1628903442.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:10:43.313Z,1628903443.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,00691,185,80,80,A2,FF
2021-08-14T01:10:43.313Z,1628903443.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:10:43.313Z,1628903443.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:10:43.315Z,1628903443.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:10:43.721Z,1628903443.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:10:44.125Z,1628903444.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,0065F,184,80,80,85,FF
2021-08-14T01:10:44.125Z,1628903444.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:10:44.129Z,1628903444.129 [Micromodem](INFO): Nmea in: $SNTTA,0.064975,0.220524,,,011044.37*50

2021-08-14T01:10:44.560Z,1628903444.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.360008 m, bearing: 162.922196 deg, deltaT: 4.497829 s, approachRate: -0.666987 m/s, LOS rate: 0.259105 deg/s, posRepo size: 4
2021-08-14T01:10:44.562Z,1628903444.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.360008 m,
      bearing: 162.922196 deg,
      approachRate: -0.666987 m/s,
      LOS rate: 0.259105 deg/s,
      cmd update: 0.777314 deg/s,
      cmd heading: 156.725183 deg,
      new cmd heading: 156.898680 deg.

2021-08-14T01:10:46.982Z,1628903446.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:10:47.355Z,1628903447.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:10:47.355Z,1628903447.355 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:10:47.355Z,1628903447.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:10:47.372Z,1628903447.372 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:10:47.765Z,1628903447.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,0065F,184,80,80,85,FF
2021-08-14T01:10:47.765Z,1628903447.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:10:47.765Z,1628903447.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:10:47.771Z,1628903447.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:10:48.164Z,1628903448.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:10:48.565Z,1628903448.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,0062F,183,80,80,87,FF
2021-08-14T01:10:48.565Z,1628903448.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:10:49.001Z,1628903449.001 [Micromodem](INFO): Nmea in: $SNTTA,0.049667,,,,011048.82*4C

2021-08-14T01:10:49.044Z,1628903449.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.480007 m, bearing: 163.078088 deg, deltaT: 4.365220 s, approachRate: -0.659761 m/s, LOS rate: 0.035712 deg/s, posRepo size: 4
2021-08-14T01:10:49.046Z,1628903449.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.480007 m,
      bearing: 163.078088 deg,
      approachRate: -0.659761 m/s,
      LOS rate: 0.035712 deg/s,
      cmd update: 0.107137 deg/s,
      cmd heading: 160.130923 deg,
      new cmd heading: 160.490171 deg.

2021-08-14T01:10:51.437Z,1628903451.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:10:51.821Z,1628903451.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:10:51.821Z,1628903451.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:10:51.821Z,1628903451.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:10:51.822Z,1628903451.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:10:52.201Z,1628903452.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,0062F,183,80,80,87,FF
2021-08-14T01:10:52.201Z,1628903452.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:10:52.201Z,1628903452.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:10:52.203Z,1628903452.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:10:52.609Z,1628903452.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:10:53.017Z,1628903453.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,005FB,184,80,80,BD,FF
2021-08-14T01:10:53.017Z,1628903453.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:10:53.465Z,1628903453.465 [Micromodem](INFO): Nmea in: $SNTTA,0.047255,,,,011053.25*40

2021-08-14T01:10:53.487Z,1628903453.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.359993 m, bearing: 160.784429 deg, deltaT: 4.485768 s, approachRate: -0.695536 m/s, LOS rate: -0.511319 deg/s, posRepo size: 4
2021-08-14T01:10:53.490Z,1628903453.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.359993 m,
      bearing: 160.784429 deg,
      approachRate: -0.695536 m/s,
      LOS rate: -0.511319 deg/s,
      cmd update: -1.533958 deg/s,
      cmd heading: 160.611501 deg,
      new cmd heading: 160.656488 deg.

2021-08-14T01:10:53.857Z,1628903453.857 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,011OC,0.20.0.39330*7A
 expected 69
2021-08-14T01:10:55.938Z,1628903455.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:10:56.241Z,1628903456.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:10:56.241Z,1628903456.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:10:56.241Z,1628903456.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:10:56.242Z,1628903456.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:10:56.653Z,1628903456.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,005FB,184,80,80,BD,FF
2021-08-14T01:10:56.654Z,1628903456.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:10:56.654Z,1628903456.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:10:56.655Z,1628903456.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:10:57.058Z,1628903457.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:10:57.912Z,1628903457.912 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011057.71*5A

2021-08-14T01:10:58.687Z,1628903458.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:01.522Z,1628903461.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:02.316Z,1628903462.316 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.074015
2021-08-14T01:11:04.025Z,1628903464.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:04.317Z,1628903464.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:11:04.317Z,1628903464.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:11:04.317Z,1628903464.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:11:04.318Z,1628903464.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:11:04.738Z,1628903464.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,005FB,184,80,80,BD,FF
2021-08-14T01:11:04.738Z,1628903464.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:11:04.738Z,1628903464.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:11:04.740Z,1628903464.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:11:05.140Z,1628903465.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:11:05.541Z,1628903465.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,0057B,187,80,80,93,FF
2021-08-14T01:11:05.542Z,1628903465.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:11:05.987Z,1628903465.987 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011105.79*54

2021-08-14T01:11:06.065Z,1628903466.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.680000 m, bearing: 163.018898 deg, deltaT: 12.490467 s, approachRate: -0.614868 m/s, LOS rate: 0.178894 deg/s, posRepo size: 4
2021-08-14T01:11:06.067Z,1628903466.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.680000 m,
      bearing: 163.018898 deg,
      approachRate: -0.614868 m/s,
      LOS rate: 0.178894 deg/s,
      cmd update: 0.536682 deg/s,
      cmd heading: 141.451559 deg,
      new cmd heading: 140.673217 deg.

2021-08-14T01:11:08.406Z,1628903468.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:08.788Z,1628903468.788 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:11:08.788Z,1628903468.788 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:11:08.789Z,1628903468.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:11:08.789Z,1628903468.789 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:11:09.173Z,1628903469.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,0057B,187,80,80,93,FF
2021-08-14T01:11:09.173Z,1628903469.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:11:09.174Z,1628903469.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:11:09.175Z,1628903469.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:11:09.589Z,1628903469.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:11:09.977Z,1628903469.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,00544,186,80,80,64,FF
2021-08-14T01:11:09.977Z,1628903469.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:11:10.433Z,1628903470.433 [Micromodem](INFO): Nmea in: $SNTTA,0.159300,,,,011110.23*4F

2021-08-14T01:11:10.480Z,1628903470.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.380001 m, bearing: 164.374008 deg, deltaT: 4.539867 s, approachRate: -0.726893 m/s, LOS rate: 0.298491 deg/s, posRepo size: 4
2021-08-14T01:11:10.482Z,1628903470.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.380001 m,
      bearing: 164.374008 deg,
      approachRate: -0.726893 m/s,
      LOS rate: 0.298491 deg/s,
      cmd update: 0.895473 deg/s,
      cmd heading: 143.885868 deg,
      new cmd heading: 144.082385 deg.

2021-08-14T01:11:12.877Z,1628903472.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:13.214Z,1628903473.214 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:11:13.214Z,1628903473.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:11:13.215Z,1628903473.215 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:11:13.216Z,1628903473.216 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:11:13.634Z,1628903473.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,00544,186,80,80,64,FF
2021-08-14T01:11:13.634Z,1628903473.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:11:13.634Z,1628903473.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:11:13.635Z,1628903473.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:11:14.020Z,1628903474.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:11:14.434Z,1628903474.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,00512,187,80,80,78,FF
2021-08-14T01:11:14.434Z,1628903474.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:11:14.861Z,1628903474.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011114.69*55

2021-08-14T01:11:14.887Z,1628903474.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.380001 m, bearing: 164.108846 deg, deltaT: 4.363895 s, approachRate: -0.687459 m/s, LOS rate: -0.060763 deg/s, posRepo size: 4
2021-08-14T01:11:14.913Z,1628903474.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.380001 m,
      bearing: 164.108846 deg,
      approachRate: -0.687459 m/s,
      LOS rate: -0.060763 deg/s,
      cmd update: -0.182288 deg/s,
      cmd heading: 147.797252 deg,
      new cmd heading: 148.178066 deg.

2021-08-14T01:11:17.282Z,1628903477.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:17.657Z,1628903477.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:11:17.658Z,1628903477.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:11:17.658Z,1628903477.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:11:17.659Z,1628903477.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:11:18.061Z,1628903478.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,00512,187,80,80,78,FF
2021-08-14T01:11:18.061Z,1628903478.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:11:18.061Z,1628903478.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:11:18.063Z,1628903478.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:11:18.483Z,1628903478.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:11:18.873Z,1628903478.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,004E6,186,80,80,96,FF
2021-08-14T01:11:18.873Z,1628903478.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:11:19.317Z,1628903479.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011119.12*54

2021-08-14T01:11:19.339Z,1628903479.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.739998 m, bearing: 165.032069 deg, deltaT: 4.460063 s, approachRate: -0.591921 m/s, LOS rate: 0.206998 deg/s, posRepo size: 4
2021-08-14T01:11:19.340Z,1628903479.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.74 m.
2021-08-14T01:11:19.342Z,1628903479.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.739998 m,
      bearing: 165.032069 deg,
      approachRate: -0.591921 m/s,
      LOS rate: 0.206998 deg/s,
      cmd update: 0.620993 deg/s,
      cmd heading: 146.984234 deg,
      new cmd heading: 146.908129 deg.

2021-08-14T01:11:19.718Z,1628903479.718 [PowerOnly](INFO): Powering up loadControl
2021-08-14T01:11:19.774Z,1628903479.774 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:11:19.774Z,1628903479.774 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:11:19.775Z,1628903479.775 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:11:19.788Z,1628903479.788 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:11:19.788Z,1628903479.788 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:11:19.788Z,1628903479.788 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:11:20.187Z,1628903480.187 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:11:20.187Z,1628903480.187 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:11:20.187Z,1628903480.187 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:11:20.187Z,1628903480.187 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:11:21.786Z,1628903481.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:22.101Z,1628903482.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:11:22.101Z,1628903482.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:11:22.101Z,1628903482.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:11:22.102Z,1628903482.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:11:22.514Z,1628903482.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,004E6,186,80,80,96,FF
2021-08-14T01:11:22.514Z,1628903482.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:11:22.514Z,1628903482.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:11:22.518Z,1628903482.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:11:22.908Z,1628903482.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:11:23.309Z,1628903483.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,004B7,186,80,80,80,FF
2021-08-14T01:11:23.310Z,1628903483.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:11:23.343Z,1628903483.343 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:11:23.748Z,1628903483.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011123.57*5C

2021-08-14T01:11:23.803Z,1628903483.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.920002 m, bearing: 165.522436 deg, deltaT: 4.418859 s, approachRate: -0.638173 m/s, LOS rate: 0.110971 deg/s, posRepo size: 4
2021-08-14T01:11:23.808Z,1628903483.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.92 m.
2021-08-14T01:11:23.808Z,1628903483.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.92 m.
2021-08-14T01:11:23.808Z,1628903483.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T01:11:23.810Z,1628903483.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.920002 m,
      bearing: 165.522436 deg,
      approachRate: -0.638173 m/s,
      LOS rate: 0.110971 deg/s,
      cmd update: 0.332914 deg/s,
      cmd heading: 149.725957 deg,
      new cmd heading: 150.015431 deg.

2021-08-14T01:11:26.204Z,1628903486.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:26.544Z,1628903486.544 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:11:26.544Z,1628903486.544 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:11:26.545Z,1628903486.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:11:26.545Z,1628903486.545 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:11:26.949Z,1628903486.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,004B7,186,80,80,80,FF
2021-08-14T01:11:26.950Z,1628903486.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:11:26.950Z,1628903486.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:11:26.951Z,1628903486.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:11:27.355Z,1628903487.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:11:27.757Z,1628903487.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,00488,186,80,80,63,FF
2021-08-14T01:11:27.758Z,1628903487.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:11:27.847Z,1628903487.847 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:11:28.202Z,1628903488.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011128.00*55

2021-08-14T01:11:28.271Z,1628903488.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.099998 m, bearing: 162.806930 deg, deltaT: 4.509130 s, approachRate: -0.625399 m/s, LOS rate: -0.602224 deg/s, posRepo size: 4
2021-08-14T01:11:28.279Z,1628903488.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.099998 m,
      bearing: 162.806930 deg,
      approachRate: -0.625399 m/s,
      LOS rate: -0.602224 deg/s,
      cmd update: -1.806672 deg/s,
      cmd heading: 151.224538 deg,
      new cmd heading: 151.368745 deg.

2021-08-14T01:11:30.617Z,1628903490.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:30.985Z,1628903490.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:11:30.985Z,1628903490.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:11:30.985Z,1628903490.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:11:30.986Z,1628903490.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:11:31.405Z,1628903491.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,00488,186,80,80,63,FF
2021-08-14T01:11:31.405Z,1628903491.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:11:31.405Z,1628903491.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:11:31.407Z,1628903491.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:11:31.825Z,1628903491.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:11:32.205Z,1628903492.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,0045D,187,80,80,60,FF
2021-08-14T01:11:32.206Z,1628903492.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:11:32.293Z,1628903492.293 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:11:32.625Z,1628903492.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011132.46*5C

2021-08-14T01:11:32.647Z,1628903492.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.519999 m, bearing: 164.502661 deg, deltaT: 4.441240 s, approachRate: -0.580919 m/s, LOS rate: 0.381815 deg/s, posRepo size: 4
2021-08-14T01:11:32.665Z,1628903492.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.519999 m,
      bearing: 164.502661 deg,
      approachRate: -0.580919 m/s,
      LOS rate: 0.381815 deg/s,
      cmd update: 1.145444 deg/s,
      cmd heading: 143.200888 deg,
      new cmd heading: 142.536498 deg.

2021-08-14T01:11:35.058Z,1628903495.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:35.429Z,1628903495.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:11:35.429Z,1628903495.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:11:35.429Z,1628903495.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:11:35.430Z,1628903495.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:11:35.834Z,1628903495.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,0045D,187,80,80,60,FF
2021-08-14T01:11:35.834Z,1628903495.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:11:35.834Z,1628903495.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:11:35.836Z,1628903495.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:11:36.241Z,1628903496.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:11:37.070Z,1628903497.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011136.89*5B

2021-08-14T01:11:37.937Z,1628903497.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:39.469Z,1628903499.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,60,FF
2021-08-14T01:11:39.469Z,1628903499.469 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,60,FF
2021-08-14T01:11:39.469Z,1628903499.469 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:11:40.802Z,1628903500.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:41.085Z,1628903501.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:11:41.085Z,1628903501.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:11:41.085Z,1628903501.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:11:41.086Z,1628903501.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:11:41.485Z,1628903501.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,60,FF
2021-08-14T01:11:41.485Z,1628903501.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:11:41.486Z,1628903501.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:11:41.487Z,1628903501.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:11:41.940Z,1628903501.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:11:42.297Z,1628903502.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,003F9,186,80,80,7B,FF
2021-08-14T01:11:42.298Z,1628903502.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:11:42.371Z,1628903502.371 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:11:42.747Z,1628903502.747 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011142.54*58

2021-08-14T01:11:42.808Z,1628903502.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.519997 m, bearing: 172.110290 deg, deltaT: 10.097819 s, approachRate: -0.594188 m/s, LOS rate: 0.753393 deg/s, posRepo size: 4
2021-08-14T01:11:42.810Z,1628903502.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.519997 m,
      bearing: 172.110290 deg,
      approachRate: -0.594188 m/s,
      LOS rate: 0.753393 deg/s,
      cmd update: 2.260180 deg/s,
      cmd heading: 154.754411 deg,
      new cmd heading: 155.237341 deg.

2021-08-14T01:11:45.193Z,1628903505.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:45.533Z,1628903505.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:11:45.534Z,1628903505.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:11:45.534Z,1628903505.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:11:45.535Z,1628903505.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:11:45.953Z,1628903505.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,003F9,186,80,80,7B,FF
2021-08-14T01:11:45.953Z,1628903505.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:11:45.953Z,1628903505.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:11:45.955Z,1628903505.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:11:46.340Z,1628903506.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:11:46.744Z,1628903506.744 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,003CD,187,80,80,89,FF
2021-08-14T01:11:46.745Z,1628903506.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:11:46.818Z,1628903506.818 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:11:47.173Z,1628903507.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011147.01*5D

2021-08-14T01:11:47.219Z,1628903507.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.879999 m, bearing: 171.643651 deg, deltaT: 4.426701 s, approachRate: -0.596380 m/s, LOS rate: -0.105415 deg/s, posRepo size: 4
2021-08-14T01:11:47.225Z,1628903507.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.879999 m,
      bearing: 171.643651 deg,
      approachRate: -0.596380 m/s,
      LOS rate: -0.105415 deg/s,
      cmd update: -0.316244 deg/s,
      cmd heading: 164.784966 deg,
      new cmd heading: 165.723750 deg.

2021-08-14T01:11:49.595Z,1628903509.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:49.973Z,1628903509.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:11:49.974Z,1628903509.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:11:49.974Z,1628903509.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:11:49.975Z,1628903509.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:11:50.389Z,1628903510.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,003CD,187,80,80,89,FF
2021-08-14T01:11:50.389Z,1628903510.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:11:50.389Z,1628903510.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:11:50.391Z,1628903510.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:11:50.807Z,1628903510.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:11:51.185Z,1628903511.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,003A9,184,80,80,9C,FF
2021-08-14T01:11:51.185Z,1628903511.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:11:51.230Z,1628903511.230 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:11:51.630Z,1628903511.630 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011151.45*5A

2021-08-14T01:11:51.651Z,1628903511.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 171.621262 deg, deltaT: 4.411603 s, approachRate: -0.489618 m/s, LOS rate: -0.005075 deg/s, posRepo size: 4
2021-08-14T01:11:51.653Z,1628903511.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.719999 m,
      bearing: 171.621262 deg,
      approachRate: -0.489618 m/s,
      LOS rate: -0.005075 deg/s,
      cmd update: -0.015225 deg/s,
      cmd heading: 163.386368 deg,
      new cmd heading: 163.252030 deg.

2021-08-14T01:11:54.078Z,1628903514.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:54.433Z,1628903514.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:11:54.433Z,1628903514.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:11:54.434Z,1628903514.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:11:54.435Z,1628903514.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:11:54.835Z,1628903514.835 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,003A9,184,80,80,9C,FF
2021-08-14T01:11:54.835Z,1628903514.835 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:11:54.835Z,1628903514.835 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:11:54.837Z,1628903514.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:11:55.225Z,1628903515.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:11:55.633Z,1628903515.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,00375,186,80,80,9E,FF
2021-08-14T01:11:55.633Z,1628903515.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:11:55.654Z,1628903515.654 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:11:56.065Z,1628903516.065 [Micromodem](INFO): Nmea in: $SNTTA,0.035544,,,,011155.89*43

2021-08-14T01:11:56.124Z,1628903516.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.599998 m, bearing: 174.319624 deg, deltaT: 4.423598 s, approachRate: -0.705308 m/s, LOS rate: 0.609993 deg/s, posRepo size: 4
2021-08-14T01:11:56.126Z,1628903516.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 174.319624 deg,
      approachRate: -0.705308 m/s,
      LOS rate: 0.609993 deg/s,
      cmd update: 1.829978 deg/s,
      cmd heading: 163.319012 deg,
      new cmd heading: 163.311807 deg.

2021-08-14T01:11:58.483Z,1628903518.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:11:58.861Z,1628903518.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:11:58.861Z,1628903518.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:11:58.861Z,1628903518.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:11:58.862Z,1628903518.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:11:59.269Z,1628903519.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,00375,186,80,80,9E,FF
2021-08-14T01:11:59.269Z,1628903519.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:11:59.269Z,1628903519.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:11:59.271Z,1628903519.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:11:59.685Z,1628903519.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:12:00.077Z,1628903520.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,00353,187,80,80,5A,FF
2021-08-14T01:12:00.078Z,1628903520.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:12:00.204Z,1628903520.204 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:12:00.525Z,1628903520.525 [Micromodem](INFO): Nmea in: $SNTTA,0.031192,,,,011200.33*4A

2021-08-14T01:12:00.542Z,1628903520.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 175.302775 deg, deltaT: 4.550738 s, approachRate: -0.448279 m/s, LOS rate: 0.216042 deg/s, posRepo size: 4
2021-08-14T01:12:00.544Z,1628903520.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.559999 m,
      bearing: 175.302775 deg,
      approachRate: -0.448279 m/s,
      LOS rate: 0.216042 deg/s,
      cmd update: 0.648126 deg/s,
      cmd heading: 171.628492 deg,
      new cmd heading: 172.269718 deg.

2021-08-14T01:12:02.933Z,1628903522.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:12:03.309Z,1628903523.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:12:03.309Z,1628903523.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:12:03.310Z,1628903523.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:12:03.311Z,1628903523.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:12:03.721Z,1628903523.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,00353,187,80,80,5A,FF
2021-08-14T01:12:03.721Z,1628903523.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:12:03.722Z,1628903523.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:12:03.727Z,1628903523.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:12:04.120Z,1628903524.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:12:04.517Z,1628903524.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,0031C,183,80,80,B7,FF
2021-08-14T01:12:04.517Z,1628903524.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:12:04.569Z,1628903524.569 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:12:04.954Z,1628903524.954 [Micromodem](INFO): Nmea in: $SNTTA,0.030753,,,,011204.78*4B

2021-08-14T01:12:04.981Z,1628903524.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 176.852531 deg, deltaT: 4.364905 s, approachRate: -0.756030 m/s, LOS rate: 0.355049 deg/s, posRepo size: 4
2021-08-14T01:12:04.983Z,1628903524.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 176.852531 deg,
      approachRate: -0.756030 m/s,
      LOS rate: 0.355049 deg/s,
      cmd update: 1.065148 deg/s,
      cmd heading: 174.461434 deg,
      new cmd heading: 174.732620 deg.

2021-08-14T01:12:07.393Z,1628903527.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:12:07.756Z,1628903527.756 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:12:07.757Z,1628903527.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:12:07.757Z,1628903527.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:12:07.759Z,1628903527.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:12:08.169Z,1628903528.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,0031C,183,80,80,B7,FF
2021-08-14T01:12:08.169Z,1628903528.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:12:08.170Z,1628903528.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:12:08.171Z,1628903528.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:12:08.557Z,1628903528.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:12:08.977Z,1628903528.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,002F2,183,80,80,C1,FF
2021-08-14T01:12:08.978Z,1628903528.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:12:09.030Z,1628903529.030 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:12:09.397Z,1628903529.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011209.22*55

2021-08-14T01:12:09.430Z,1628903529.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.740000 m, bearing: 177.897523 deg, deltaT: 4.460807 s, approachRate: -0.564920 m/s, LOS rate: 0.234261 deg/s, posRepo size: 4
2021-08-14T01:12:09.432Z,1628903529.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.740000 m,
      bearing: 177.897523 deg,
      approachRate: -0.564920 m/s,
      LOS rate: 0.234261 deg/s,
      cmd update: 0.702782 deg/s,
      cmd heading: 179.216984 deg,
      new cmd heading: 179.646041 deg.

2021-08-14T01:12:11.919Z,1628903531.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:12:12.209Z,1628903532.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:12:12.209Z,1628903532.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:12:12.209Z,1628903532.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:12:12.210Z,1628903532.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:12:12.605Z,1628903532.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,002F2,183,80,80,C1,FF
2021-08-14T01:12:12.606Z,1628903532.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:12:12.606Z,1628903532.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:12:12.607Z,1628903532.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:12:13.026Z,1628903533.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:12:13.417Z,1628903533.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,002CF,186,80,80,AB,FF
2021-08-14T01:12:13.417Z,1628903533.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:12:13.437Z,1628903533.437 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:12:13.889Z,1628903533.889 [Micromodem](INFO): Nmea in: $SNTTA,0.234437,,,,011213.66*45

2021-08-14T01:12:13.943Z,1628903533.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 178.271598 deg, deltaT: 4.407374 s, approachRate: -0.476475 m/s, LOS rate: 0.084875 deg/s, posRepo size: 4
2021-08-14T01:12:13.945Z,1628903533.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 178.271598 deg,
      approachRate: -0.476475 m/s,
      LOS rate: 0.084875 deg/s,
      cmd update: 0.254625 deg/s,
      cmd heading: 182.314516 deg,
      new cmd heading: 182.672170 deg.

2021-08-14T01:12:16.292Z,1628903536.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:12:16.637Z,1628903536.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:12:16.637Z,1628903536.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:12:16.637Z,1628903536.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:12:16.638Z,1628903536.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:12:17.054Z,1628903537.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,002CF,186,80,80,AB,FF
2021-08-14T01:12:17.054Z,1628903537.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:12:17.054Z,1628903537.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:12:17.058Z,1628903537.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:12:17.457Z,1628903537.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:12:17.853Z,1628903537.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFD,000,002B7,183,80,80,8D,FF
2021-08-14T01:12:17.855Z,1628903537.855 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:12:17.961Z,1628903537.961 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:12:18.286Z,1628903538.286 [Micromodem](INFO): Nmea in: $SNTTA,0.025599,,,,011218.11*49

2021-08-14T01:12:18.319Z,1628903538.319 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T01:12:18.319Z,1628903538.319 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T01:12:18.320Z,1628903538.320 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T01:12:18.320Z,1628903538.320 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T01:12:18.320Z,1628903538.320 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T01:12:18.321Z,1628903538.321 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 
2021-08-14T01:12:18.321Z,1628903538.321 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T01:12:18.321Z,1628903538.321 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T01:12:18.321Z,1628903538.321 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T01:12:18.323Z,1628903538.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.199998 m, bearing: 187.321244 deg, deltaT: 4.523585 s, approachRate: -0.318332 m/s, LOS rate: 2.000547 deg/s, posRepo size: 4
2021-08-14T01:12:18.326Z,1628903538.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 187.321244 deg,
      approachRate: -0.318332 m/s,
      LOS rate: 2.000547 deg/s,
      cmd update: 6.001642 deg/s,
      cmd heading: 183.464061 deg,
      new cmd heading: 183.559385 deg.

2021-08-14T01:12:18.701Z,1628903538.701 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T011218: (41.552319, -70.708603)
2021-08-14T01:12:18.701Z,1628903538.701 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T01:12:18.701Z,1628903538.701 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T01:12:18.702Z,1628903538.702 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T01:12:18.702Z,1628903538.702 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T01:12:18.702Z,1628903538.702 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T01:12:18.702Z,1628903538.702 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T01:12:18.702Z,1628903538.702 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T01:12:18.702Z,1628903538.702 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T01:12:19.108Z,1628903539.108 [UniversalFixResidualReporter](INFO): Fix residual: 1.1 %DT, over the last 658.4 m. Residual distance 7.5 m at bearing 157.6 degrees. Fix at (41.5533, -70.7054) with 0.0 m made good.
2021-08-14T01:12:20.727Z,1628903540.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:12:21.090Z,1628903541.090 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:12:21.090Z,1628903541.090 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:12:21.091Z,1628903541.091 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:12:21.092Z,1628903541.092 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:12:21.494Z,1628903541.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFD,000,002B7,183,80,80,8D,FF
2021-08-14T01:12:21.494Z,1628903541.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:12:21.494Z,1628903541.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:12:21.496Z,1628903541.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:12:21.936Z,1628903541.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:12:22.293Z,1628903542.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,002C2,184,80,80,99,FF
2021-08-14T01:12:22.294Z,1628903542.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:12:22.392Z,1628903542.392 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:12:22.762Z,1628903542.762 [Micromodem](INFO): Nmea in: $SNTTA,0.026114,,,,011222.55*42

2021-08-14T01:12:22.817Z,1628903542.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.860001 m, bearing: 193.492251 deg, deltaT: 4.431237 s, approachRate: 0.148943 m/s, LOS rate: 1.392615 deg/s, posRepo size: 4
2021-08-14T01:12:22.819Z,1628903542.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 193.492251 deg,
      approachRate: 0.148943 m/s,
      LOS rate: 1.392615 deg/s,
      cmd update: 4.177845 deg/s,
      cmd heading: 210.060295 deg,
      new cmd heading: 212.677197 deg.

2021-08-14T01:12:25.185Z,1628903545.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:12:25.533Z,1628903545.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:12:25.533Z,1628903545.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:12:25.533Z,1628903545.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:12:25.534Z,1628903545.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:12:25.953Z,1628903545.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,002C2,184,80,80,99,FF
2021-08-14T01:12:25.953Z,1628903545.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:12:25.953Z,1628903545.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:12:25.955Z,1628903545.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:12:26.341Z,1628903546.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:12:26.766Z,1628903546.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00311,183,80,80,89,FF
2021-08-14T01:12:26.767Z,1628903546.767 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:12:26.864Z,1628903546.864 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:12:27.170Z,1628903547.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011227.01*58

2021-08-14T01:12:27.191Z,1628903547.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.599998 m, bearing: 202.851987 deg, deltaT: 4.471857 s, approachRate: 1.059962 m/s, LOS rate: 2.093031 deg/s, posRepo size: 4
2021-08-14T01:12:27.213Z,1628903547.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.599998 m,
      bearing: 202.851987 deg,
      approachRate: 1.059962 m/s,
      LOS rate: 2.093031 deg/s,
      cmd update: 6.279094 deg/s,
      cmd heading: 228.744789 deg,
      new cmd heading: 230.158058 deg.

2021-08-14T01:12:29.608Z,1628903549.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:12:29.969Z,1628903549.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:12:29.969Z,1628903549.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:12:29.969Z,1628903549.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:12:29.970Z,1628903549.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:12:30.374Z,1628903550.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,00311,183,80,80,89,FF
2021-08-14T01:12:30.374Z,1628903550.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:12:30.374Z,1628903550.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:12:30.377Z,1628903550.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:12:30.833Z,1628903550.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:12:31.192Z,1628903551.192 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,00318,186,80,80,6C,FF
2021-08-14T01:12:31.193Z,1628903551.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:12:31.213Z,1628903551.213 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:12:31.629Z,1628903551.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011231.43*59

2021-08-14T01:12:31.648Z,1628903551.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.019998 m, bearing: 202.965669 deg, deltaT: 4.348701 s, approachRate: 0.096581 m/s, LOS rate: 0.026142 deg/s, posRepo size: 4
2021-08-14T01:12:31.650Z,1628903551.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.019998 m,
      bearing: 202.965669 deg,
      approachRate: 0.096581 m/s,
      LOS rate: 0.026142 deg/s,
      cmd update: 0.078425 deg/s,
      cmd heading: 256.102285 deg,
      new cmd heading: 258.851430 deg.

2021-08-14T01:12:34.070Z,1628903554.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:12:34.421Z,1628903554.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:12:34.421Z,1628903554.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:12:34.421Z,1628903554.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:12:34.422Z,1628903554.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:12:34.845Z,1628903554.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,00318,186,80,80,6C,FF
2021-08-14T01:12:34.845Z,1628903554.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:12:34.845Z,1628903554.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:12:34.847Z,1628903554.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:12:35.237Z,1628903555.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:12:36.034Z,1628903556.034 [Micromodem](INFO): Nmea in: $SNTTA,0.060567,,,,011235.90*4F

2021-08-14T01:12:36.877Z,1628903556.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:12:38.462Z,1628903558.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,6C,FF
2021-08-14T01:12:38.462Z,1628903558.462 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,6C,FF
2021-08-14T01:12:38.462Z,1628903558.462 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:12:39.682Z,1628903559.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:12:39.683Z,1628903559.683 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T01:12:39.683Z,1628903559.683 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T01:12:39.683Z,1628903559.683 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T01:12:39.683Z,1628903559.683 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T01:12:39.683Z,1628903559.683 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T01:12:40.149Z,1628903560.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:12:40.151Z,1628903560.151 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:12:40.151Z,1628903560.151 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:12:40.178Z,1628903560.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:12:40.357Z,1628903560.357 [Micromodem](INFO): Outgoing frame #1, 64 bytes: CC101761160001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-14T01:12:40.358Z,1628903560.358 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-14T01:12:40.359Z,1628903560.359 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707260262696593C37F3F9CEDFBA5EE3DE5AC732A14AE42F3647FC15CA04FAB07F0EEED9E8
2021-08-14T01:12:40.382Z,1628903560.382 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T01:12:40.643Z,1628903560.643 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,6C,FF
2021-08-14T01:12:40.644Z,1628903560.644 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:12:40.644Z,1628903560.644 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:12:40.647Z,1628903560.647 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T01:12:40.648Z,1628903560.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:12:41.055Z,1628903561.055 [Micromodem](INFO): Nmea in: $CADRQ,011241,1,10,0,64,1*71

2021-08-14T01:12:41.055Z,1628903561.055 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,011241,1,10,0,64,1*71

2021-08-14T01:12:41.451Z,1628903561.451 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,00368,186,80,80,74,FF
2021-08-14T01:12:41.451Z,1628903561.451 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:12:41.459Z,1628903561.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:12:41.534Z,1628903561.534 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:12:41.947Z,1628903561.947 [Micromodem](INFO): Nmea in: $SNTTA,0.039965,,,,011241.70*40

2021-08-14T01:12:42.175Z,1628903562.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.820001 m, bearing: 254.661363 deg, deltaT: 10.321512 s, approachRate: 0.465048 m/s, LOS rate: 5.008539 deg/s, posRepo size: 4
2021-08-14T01:12:42.177Z,1628903562.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.820001 m,
      bearing: 254.661363 deg,
      approachRate: 0.465048 m/s,
      LOS rate: 5.008539 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 256.910810 deg,
      new cmd heading: 256.962208 deg.

2021-08-14T01:12:44.392Z,1628903564.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:12:44.805Z,1628903564.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:12:44.805Z,1628903564.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:12:44.805Z,1628903564.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:12:44.806Z,1628903564.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:12:45.181Z,1628903565.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,00368,186,80,80,74,FF
2021-08-14T01:12:45.181Z,1628903565.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:12:45.181Z,1628903565.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:12:45.183Z,1628903565.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:12:45.582Z,1628903565.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:12:45.981Z,1628903565.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27D,000,0037B,189,80,80,5B,FF
2021-08-14T01:12:45.982Z,1628903565.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:12:46.053Z,1628903566.053 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:12:46.433Z,1628903566.433 [Micromodem](INFO): Nmea in: $SNTTA,0.027273,,,,011246.24*45

2021-08-14T01:12:46.627Z,1628903566.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 236.226491 deg, deltaT: 4.519010 s, approachRate: 0.252268 m/s, LOS rate: -4.079405 deg/s, posRepo size: 4
2021-08-14T01:12:46.630Z,1628903566.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 236.226491 deg,
      approachRate: 0.252268 m/s,
      LOS rate: -4.079405 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 311.282127 deg,
      new cmd heading: 318.208323 deg.

2021-08-14T01:12:48.606Z,1628903568.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:12:48.829Z,1628903568.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:12:48.829Z,1628903568.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:12:48.829Z,1628903568.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:12:48.830Z,1628903568.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:12:49.225Z,1628903569.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27D,000,0037B,189,80,80,5B,FF
2021-08-14T01:12:49.225Z,1628903569.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:12:49.225Z,1628903569.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:12:49.227Z,1628903569.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:12:49.630Z,1628903569.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:12:50.022Z,1628903570.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,00398,186,80,80,6B,FF
2021-08-14T01:12:50.022Z,1628903570.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:12:50.099Z,1628903570.099 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:12:50.469Z,1628903570.469 [Micromodem](INFO): Nmea in: $SNTTA,0.055160,,,,011250.28*4A

2021-08-14T01:12:50.491Z,1628903570.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.700001 m, bearing: 297.149265 deg, deltaT: 4.045461 s, approachRate: 0.430112 m/s, LOS rate: 15.059537 deg/s, posRepo size: 4
2021-08-14T01:12:50.492Z,1628903570.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.059537 deg/s. Setting heading cmd to target bearing of 297.149265deg and heading rate command to 0 deg/s.
2021-08-14T01:12:53.083Z,1628903573.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:12:53.265Z,1628903573.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:12:53.265Z,1628903573.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:12:53.265Z,1628903573.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:12:53.266Z,1628903573.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:12:53.653Z,1628903573.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB7,000,00398,186,80,80,6B,FF
2021-08-14T01:12:53.654Z,1628903573.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:12:53.654Z,1628903573.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:12:53.657Z,1628903573.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:12:54.068Z,1628903574.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:12:54.475Z,1628903574.475 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,125,000,003B2,186,80,80,68,FF
2021-08-14T01:12:54.476Z,1628903574.476 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:12:54.493Z,1628903574.493 [PowerOnly](INFO): Powering down loadControl
2021-08-14T01:12:54.546Z,1628903574.546 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:12:54.917Z,1628903574.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011254.71*5B

2021-08-14T01:12:55.115Z,1628903575.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 279.460086 deg, deltaT: 4.447623 s, approachRate: 0.350749 m/s, LOS rate: -3.977221 deg/s, posRepo size: 4
2021-08-14T01:12:55.116Z,1628903575.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.26 m. Rolling out.
2021-08-14T01:12:55.117Z,1628903575.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T01:12:57.316Z,1628903577.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:12:57.686Z,1628903577.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:12:57.686Z,1628903577.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:12:57.686Z,1628903577.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:12:57.687Z,1628903577.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:12:58.105Z,1628903578.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
125,000,003B2,186,80,80,68,FF
2021-08-14T01:12:58.105Z,1628903578.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:12:58.105Z,1628903578.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:12:58.107Z,1628903578.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:12:58.496Z,1628903578.496 [DDM](ERROR): Could not parse whisker state
2021-08-14T01:12:58.509Z,1628903578.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:12:58.923Z,1628903578.923 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,003CB,187,80,80,6D,FF
2021-08-14T01:12:58.923Z,1628903578.923 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:12:58.993Z,1628903578.993 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:12:59.351Z,1628903579.351 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011259.16*57

2021-08-14T01:12:59.563Z,1628903579.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 308.300068 deg, deltaT: 4.446677 s, approachRate: 0.337330 m/s, LOS rate: 6.485738 deg/s, posRepo size: 4
2021-08-14T01:13:01.566Z,1628903581.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:01.780Z,1628903581.780 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:13:01.780Z,1628903581.780 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:13:01.781Z,1628903581.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:13:01.781Z,1628903581.781 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:13:02.174Z,1628903582.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,003CB,187,80,80,6D,FF
2021-08-14T01:13:02.174Z,1628903582.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:13:02.174Z,1628903582.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:13:02.176Z,1628903582.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:13:02.581Z,1628903582.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:13:02.978Z,1628903582.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,003ED,186,80,80,69,FF
2021-08-14T01:13:02.978Z,1628903582.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:13:03.028Z,1628903583.028 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:13:03.422Z,1628903583.422 [Micromodem](INFO): Nmea in: $SNTTA,0.017248,,,,011303.23*49

2021-08-14T01:13:03.467Z,1628903583.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 325.547443 deg, deltaT: 4.035055 s, approachRate: 0.505569 m/s, LOS rate: 4.274384 deg/s, posRepo size: 4
2021-08-14T01:13:06.109Z,1628903586.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:06.261Z,1628903586.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:13:06.261Z,1628903586.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:13:06.261Z,1628903586.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:13:06.262Z,1628903586.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:13:06.670Z,1628903586.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,003ED,186,80,80,69,FF
2021-08-14T01:13:06.670Z,1628903586.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:13:06.670Z,1628903586.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:13:06.673Z,1628903586.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:13:07.076Z,1628903587.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:13:07.478Z,1628903587.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D91,000,00406,189,80,80,77,FF
2021-08-14T01:13:07.478Z,1628903587.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:13:07.551Z,1628903587.551 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:13:07.953Z,1628903587.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011307.73*5E

2021-08-14T01:13:08.169Z,1628903588.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 334.752462 deg, deltaT: 4.522610 s, approachRate: 0.331668 m/s, LOS rate: 2.035333 deg/s, posRepo size: 4
2021-08-14T01:13:10.397Z,1628903590.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:10.773Z,1628903590.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:13:10.773Z,1628903590.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:13:10.774Z,1628903590.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:13:10.775Z,1628903590.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:13:10.783Z,1628903590.783 [Micromodem](INFO): Nmea in: $CAERR,011311,DATA_TIMEOUT,1*4D

2021-08-14T01:13:11.162Z,1628903591.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D91,000,00406,189,80,80,77,FF
2021-08-14T01:13:11.162Z,1628903591.162 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:13:11.162Z,1628903591.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:13:11.163Z,1628903591.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:13:11.575Z,1628903591.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:13:11.975Z,1628903591.975 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,00432,186,80,80,76,FF
2021-08-14T01:13:11.976Z,1628903591.976 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:13:11.990Z,1628903591.990 [Micromodem](INFO): Nmea in: $SNTTA,0.047680,0.295716,,,011312.22*5D

2021-08-14T01:13:12.081Z,1628903592.081 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:13:12.579Z,1628903592.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.939999 m, bearing: 320.931984 deg, deltaT: 4.530416 s, approachRate: 0.582727 m/s, LOS rate: -3.050598 deg/s, posRepo size: 4
2021-08-14T01:13:14.582Z,1628903594.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:14.826Z,1628903594.826 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:13:14.826Z,1628903594.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:13:14.826Z,1628903594.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:13:14.827Z,1628903594.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:13:15.217Z,1628903595.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,00432,186,80,80,76,FF
2021-08-14T01:13:15.217Z,1628903595.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:13:15.217Z,1628903595.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:13:15.219Z,1628903595.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:13:15.607Z,1628903595.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:13:16.105Z,1628903596.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFE,000,00451,187,80,80,6E,FF
2021-08-14T01:13:16.106Z,1628903596.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:13:16.109Z,1628903596.109 [Micromodem](INFO): Nmea in: $SNTTA,0.268661,0.228667,,,011316.27*5D

2021-08-14T01:13:16.194Z,1628903596.194 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:13:16.460Z,1628903596.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.799999 m, bearing: 319.271811 deg, deltaT: 4.112960 s, approachRate: 0.452229 m/s, LOS rate: -0.403644 deg/s, posRepo size: 4
2021-08-14T01:13:19.059Z,1628903599.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:19.237Z,1628903599.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:13:19.237Z,1628903599.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:13:19.238Z,1628903599.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:13:19.238Z,1628903599.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:13:19.633Z,1628903599.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFE,000,00451,187,80,80,6E,FF
2021-08-14T01:13:19.633Z,1628903599.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:13:19.633Z,1628903599.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:13:19.637Z,1628903599.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:13:20.049Z,1628903600.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:13:20.441Z,1628903600.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,0047C,186,80,80,34,FF
2021-08-14T01:13:20.442Z,1628903600.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:13:20.525Z,1628903600.525 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:13:20.877Z,1628903600.877 [Micromodem](INFO): Nmea in: $SNTTA,0.146158,,,,011320.69*41

2021-08-14T01:13:21.089Z,1628903601.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.379999 m, bearing: 324.131190 deg, deltaT: 4.330553 s, approachRate: 0.595767 m/s, LOS rate: 1.122115 deg/s, posRepo size: 4
2021-08-14T01:13:23.326Z,1628903603.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:23.702Z,1628903603.702 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:13:23.703Z,1628903603.703 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:13:23.703Z,1628903603.703 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:13:23.728Z,1628903603.728 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:13:23.729Z,1628903603.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,0047C,186,80,80,34,FF
2021-08-14T01:13:23.729Z,1628903603.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:13:23.729Z,1628903603.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:13:23.731Z,1628903603.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:13:24.120Z,1628903604.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:13:24.918Z,1628903604.918 [Micromodem](INFO): Nmea in: $SNTTA,0.047753,,,,011324.79*49

2021-08-14T01:13:25.324Z,1628903605.324 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,02EEB,186,80,80,5E,FF
2021-08-14T01:13:25.325Z,1628903605.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:13:25.566Z,1628903605.566 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:13:25.808Z,1628903605.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 683.159973 m, bearing: 313.027624 deg, deltaT: 5.041780 s, approachRate: 129.275772 m/s, LOS rate: -2.202311 deg/s, posRepo size: 4
2021-08-14T01:13:25.809Z,1628903605.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 683.16 m. Resuming terminal guidance.
2021-08-14T01:13:25.809Z,1628903605.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T01:13:26.223Z,1628903606.223 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:13:26.223Z,1628903606.223 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:13:26.223Z,1628903606.223 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:13:26.224Z,1628903606.224 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:13:26.224Z,1628903606.224 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:13:26.224Z,1628903606.224 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:13:26.620Z,1628903606.620 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:13:26.621Z,1628903606.621 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:13:26.621Z,1628903606.621 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:13:26.621Z,1628903606.621 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:13:28.225Z,1628903608.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:28.582Z,1628903608.582 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:13:28.582Z,1628903608.582 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:13:28.582Z,1628903608.582 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:13:28.583Z,1628903608.583 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:13:28.985Z,1628903608.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,02EEB,186,80,80,5E,FF
2021-08-14T01:13:28.985Z,1628903608.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:13:28.985Z,1628903608.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:13:28.987Z,1628903608.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:13:29.403Z,1628903609.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:13:29.817Z,1628903609.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,004DE,184,80,80,72,FF
2021-08-14T01:13:29.817Z,1628903609.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:13:30.273Z,1628903610.273 [Micromodem](INFO): Nmea in: $SNTTA,0.383088,,,,011330.04*4C

2021-08-14T01:13:30.329Z,1628903610.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.259998 m, bearing: 299.572917 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T01:13:30.329Z,1628903610.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.26 m.
2021-08-14T01:13:30.330Z,1628903610.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 299.572917deg and heading rate command to 0 deg/s.
2021-08-14T01:13:30.639Z,1628903610.639 [PowerOnly](INFO): Powering up loadControl
2021-08-14T01:13:30.687Z,1628903610.687 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:13:30.687Z,1628903610.687 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:13:30.688Z,1628903610.688 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:13:30.689Z,1628903610.689 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:13:30.689Z,1628903610.689 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:13:30.689Z,1628903610.689 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:13:31.084Z,1628903611.084 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:13:31.085Z,1628903611.085 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:13:31.086Z,1628903611.086 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:13:31.086Z,1628903611.086 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:13:32.814Z,1628903612.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:33.129Z,1628903613.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:13:33.129Z,1628903613.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:13:33.129Z,1628903613.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:13:33.130Z,1628903613.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:13:33.545Z,1628903613.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,004DE,184,80,80,72,FF
2021-08-14T01:13:33.546Z,1628903613.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:13:33.546Z,1628903613.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:13:33.547Z,1628903613.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:13:33.979Z,1628903613.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:13:34.834Z,1628903614.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011334.60*5C

2021-08-14T01:13:36.125Z,1628903616.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:37.101Z,1628903617.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,184,80,80,72,FF
2021-08-14T01:13:37.101Z,1628903617.101 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,184,80,80,72,FF
2021-08-14T01:13:37.101Z,1628903617.101 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:13:38.790Z,1628903618.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:39.121Z,1628903619.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:13:39.121Z,1628903619.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:13:39.121Z,1628903619.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:13:39.122Z,1628903619.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:13:39.517Z,1628903619.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,184,80,80,72,FF
2021-08-14T01:13:39.517Z,1628903619.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:13:39.517Z,1628903619.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:13:39.519Z,1628903619.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:13:39.953Z,1628903619.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:13:40.789Z,1628903620.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011340.57*5B

2021-08-14T01:13:41.630Z,1628903621.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:43.197Z,1628903623.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,184,80,80,72,FF
2021-08-14T01:13:43.197Z,1628903623.197 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,184,80,80,72,FF
2021-08-14T01:13:43.197Z,1628903623.197 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:13:44.418Z,1628903624.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:44.809Z,1628903624.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:13:44.809Z,1628903624.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:13:44.809Z,1628903624.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:13:44.810Z,1628903624.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:13:45.270Z,1628903625.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,184,80,80,72,FF
2021-08-14T01:13:45.270Z,1628903625.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:13:45.271Z,1628903625.271 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:13:45.273Z,1628903625.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:13:45.660Z,1628903625.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:13:45.672Z,1628903625.672 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T01:13:46.224Z,1628903626.224 [Micromodem](INFO): Outgoing frame #1, 64 bytes: CC101761160001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-14T01:13:46.225Z,1628903626.225 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-14T01:13:46.225Z,1628903626.225 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707260262696593C37F3F9CEDFBA5EE3DE5AC732A14AE42F3647FC15CA04FAB07F0EEED9E8
2021-08-14T01:13:46.225Z,1628903626.225 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T01:13:46.554Z,1628903626.554 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T01:13:46.955Z,1628903626.955 [Micromodem](INFO): Nmea in: $CADRQ,011347,1,10,0,64,1*76

2021-08-14T01:13:46.956Z,1628903626.956 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC101761160001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*41

2021-08-14T01:13:47.251Z,1628903627.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:47.437Z,1628903627.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,155,000,045B1,186,80,80,67,FF
2021-08-14T01:13:47.437Z,1628903627.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:13:47.440Z,1628903627.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011346.33*5F

2021-08-14T01:13:47.441Z,1628903627.441 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,011346.33*5F

2021-08-14T01:13:47.459Z,1628903627.459 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:13:47.931Z,1628903627.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1032.959961 m, bearing: 291.286941 deg, deltaT: 17.510906 s, approachRate: 56.861702 m/s, LOS rate: -0.473189 deg/s, posRepo size: 2
2021-08-14T01:13:47.933Z,1628903627.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1032.959961 m,
      bearing: 291.286941 deg,
      approachRate: 56.861702 m/s,
      LOS rate: -0.473189 deg/s,
      cmd update: -1.419568 deg/s,
      cmd heading: 299.572917 deg,
      new cmd heading: 299.572917 deg.

2021-08-14T01:13:48.344Z,1628903628.344 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:13:48.344Z,1628903628.344 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:13:48.344Z,1628903628.344 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:13:48.345Z,1628903628.345 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:13:48.345Z,1628903628.345 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:13:48.345Z,1628903628.345 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:13:48.664Z,1628903628.664 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T01:13:48.685Z,1628903628.685 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:13:48.685Z,1628903628.685 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:13:48.685Z,1628903628.685 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:13:48.685Z,1628903628.685 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:13:49.077Z,1628903629.077 [Micromodem](INFO): Nmea in: $CADRQ,011348,1,10,0,64,2*7A

2021-08-14T01:13:49.077Z,1628903629.077 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33

2021-08-14T01:13:49.477Z,1628903629.477 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T01:13:49.896Z,1628903629.896 [Micromodem](INFO): Nmea in: $CADRQ,011350,1,10,0,64,3*72

2021-08-14T01:13:49.898Z,1628903629.898 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707260262696593C37F3F9CEDFBA5EE3DE5AC732A14AE42F3647FC15CA04FAB07F0EEED9E8*48

2021-08-14T01:13:50.058Z,1628903630.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:50.275Z,1628903630.275 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:13:50.275Z,1628903630.275 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:13:50.275Z,1628903630.275 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:13:50.276Z,1628903630.276 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:13:50.284Z,1628903630.284 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T01:13:50.677Z,1628903630.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
155,000,045B1,186,80,80,67,FF
2021-08-14T01:13:50.677Z,1628903630.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:13:50.677Z,1628903630.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:13:50.678Z,1628903630.678 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-08-14T01:13:50.679Z,1628903630.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:13:52.797Z,1628903632.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:54.334Z,1628903634.334 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-08-14T01:13:54.334Z,1628903634.334 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-08-14T01:13:54.723Z,1628903634.723 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,011351.000200,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6D

2021-08-14T01:13:54.723Z,1628903634.723 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,011351.000200,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6D

2021-08-14T01:13:55.542Z,1628903635.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:56.348Z,1628903636.348 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.072395
2021-08-14T01:13:58.194Z,1628903638.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:13:58.354Z,1628903638.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:13:58.355Z,1628903638.355 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:13:58.355Z,1628903638.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:13:58.356Z,1628903638.356 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:13:58.781Z,1628903638.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
155,000,045B1,186,80,80,67,FF
2021-08-14T01:13:58.781Z,1628903638.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:13:58.782Z,1628903638.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:14:00.853Z,1628903640.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:02.037Z,1628903642.037 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:14:02.446Z,1628903642.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:14:03.250Z,1628903643.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011403.09*50

2021-08-14T01:14:03.674Z,1628903643.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:04.472Z,1628903644.472 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.116768
2021-08-14T01:14:05.653Z,1628903645.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,67,FF
2021-08-14T01:14:05.654Z,1628903645.654 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,67,FF
2021-08-14T01:14:05.654Z,1628903645.654 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:14:06.683Z,1628903646.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:06.881Z,1628903646.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:14:06.881Z,1628903646.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:14:06.881Z,1628903646.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:14:06.882Z,1628903646.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:14:07.273Z,1628903647.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,67,FF
2021-08-14T01:14:07.273Z,1628903647.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:14:07.274Z,1628903647.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:14:07.275Z,1628903647.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:14:07.692Z,1628903647.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:14:08.087Z,1628903648.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FC,000,00673,187,80,80,8A,FF
2021-08-14T01:14:08.087Z,1628903648.087 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:14:08.533Z,1628903648.533 [Micromodem](INFO): Nmea in: $SNTTA,0.052261,,,,011408.33*4E

2021-08-14T01:14:08.575Z,1628903648.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.560005 m, bearing: 256.310143 deg, deltaT: 20.706192 s, approachRate: -46.913502 m/s, LOS rate: -1.689195 deg/s, posRepo size: 3
2021-08-14T01:14:08.584Z,1628903648.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.560005 m,
      bearing: 256.310143 deg,
      approachRate: -46.913502 m/s,
      LOS rate: -1.689195 deg/s,
      cmd update: -5.067585 deg/s,
      cmd heading: 270.184248 deg,
      new cmd heading: 269.592430 deg.

2021-08-14T01:14:11.126Z,1628903651.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:11.313Z,1628903651.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:14:11.313Z,1628903651.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:14:11.313Z,1628903651.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:14:11.314Z,1628903651.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:14:11.718Z,1628903651.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FC,000,00673,187,80,80,8A,FF
2021-08-14T01:14:11.718Z,1628903651.718 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:14:11.719Z,1628903651.719 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:14:11.723Z,1628903651.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:14:12.129Z,1628903652.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:14:12.526Z,1628903652.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EC,000,006A5,189,80,80,76,FF
2021-08-14T01:14:12.527Z,1628903652.527 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:14:12.969Z,1628903652.969 [Micromodem](INFO): Nmea in: $SNTTA,0.052102,,,,011412.78*4C

2021-08-14T01:14:13.172Z,1628903653.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.559998 m, bearing: 236.394404 deg, deltaT: 4.439454 s, approachRate: 0.675757 m/s, LOS rate: -4.486078 deg/s, posRepo size: 4
2021-08-14T01:14:13.174Z,1628903653.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.559998 m,
      bearing: 236.394404 deg,
      approachRate: 0.675757 m/s,
      LOS rate: -4.486078 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 247.711640 deg,
      new cmd heading: 244.778101 deg.

2021-08-14T01:14:15.387Z,1628903655.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:15.823Z,1628903655.823 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:14:15.823Z,1628903655.823 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:14:15.824Z,1628903655.824 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:14:15.827Z,1628903655.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:14:16.165Z,1628903656.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EC,000,006A5,189,80,80,76,FF
2021-08-14T01:14:16.165Z,1628903656.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:14:16.165Z,1628903656.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:14:16.167Z,1628903656.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:14:16.568Z,1628903656.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:14:16.973Z,1628903656.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,006CE,185,80,80,7C,FF
2021-08-14T01:14:16.974Z,1628903656.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:14:17.422Z,1628903657.422 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011417.22*5C

2021-08-14T01:14:17.635Z,1628903657.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.019997 m, bearing: 235.432140 deg, deltaT: 4.436175 s, approachRate: 0.554532 m/s, LOS rate: -0.216913 deg/s, posRepo size: 4
2021-08-14T01:14:17.638Z,1628903657.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.019997 m,
      bearing: 235.432140 deg,
      approachRate: 0.554532 m/s,
      LOS rate: -0.216913 deg/s,
      cmd update: -0.650739 deg/s,
      cmd heading: 194.371351 deg,
      new cmd heading: 187.388154 deg.

2021-08-14T01:14:19.639Z,1628903659.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:19.933Z,1628903659.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:14:19.933Z,1628903659.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:14:19.933Z,1628903659.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:14:19.934Z,1628903659.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:14:20.341Z,1628903660.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17D,000,006CE,185,80,80,7C,FF
2021-08-14T01:14:20.341Z,1628903660.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:14:20.342Z,1628903660.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:14:20.343Z,1628903660.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:14:20.787Z,1628903660.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:14:21.149Z,1628903661.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,390,000,006F3,189,80,80,B4,FF
2021-08-14T01:14:21.150Z,1628903661.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:14:21.589Z,1628903661.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011421.40*5D

2021-08-14T01:14:21.624Z,1628903661.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.240005 m, bearing: 189.189738 deg, deltaT: 4.128640 s, approachRate: 0.537709 m/s, LOS rate: -11.200396 deg/s, posRepo size: 4
2021-08-14T01:14:21.626Z,1628903661.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.240005 m,
      bearing: 189.189738 deg,
      approachRate: 0.537709 m/s,
      LOS rate: -11.200396 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 191.684696 deg,
      new cmd heading: 191.387226 deg.

2021-08-14T01:14:24.209Z,1628903664.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:24.389Z,1628903664.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:14:24.389Z,1628903664.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:14:24.389Z,1628903664.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:14:24.390Z,1628903664.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:14:24.825Z,1628903664.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
390,000,006F3,189,80,80,B4,FF
2021-08-14T01:14:24.825Z,1628903664.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:14:24.825Z,1628903664.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:14:24.827Z,1628903664.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:14:25.196Z,1628903665.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:14:25.609Z,1628903665.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CF,000,00714,189,80,80,7F,FF
2021-08-14T01:14:25.609Z,1628903665.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:14:26.031Z,1628903666.031 [Micromodem](INFO): Nmea in: $SNTTA,0.068896,,,,011425.88*4A

2021-08-14T01:14:26.273Z,1628903666.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.220001 m, bearing: 184.190954 deg, deltaT: 4.500886 s, approachRate: 0.439912 m/s, LOS rate: -1.110622 deg/s, posRepo size: 4
2021-08-14T01:14:26.275Z,1628903666.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.220001 m,
      bearing: 184.190954 deg,
      approachRate: 0.439912 m/s,
      LOS rate: -1.110622 deg/s,
      cmd update: -3.331866 deg/s,
      cmd heading: 137.674554 deg,
      new cmd heading: 130.601046 deg.

2021-08-14T01:14:28.495Z,1628903668.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:28.881Z,1628903668.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:14:28.881Z,1628903668.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:14:28.881Z,1628903668.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:14:28.882Z,1628903668.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:14:29.277Z,1628903669.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CF,000,00714,189,80,80,7F,FF
2021-08-14T01:14:29.277Z,1628903669.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:14:29.277Z,1628903669.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:14:29.279Z,1628903669.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:14:29.700Z,1628903669.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:14:30.094Z,1628903670.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19F,000,0072D,185,80,80,66,FF
2021-08-14T01:14:30.094Z,1628903670.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:14:30.531Z,1628903670.531 [Micromodem](INFO): Nmea in: $SNTTA,0.064531,,,,011430.33*42

2021-08-14T01:14:30.738Z,1628903670.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.720009 m, bearing: 186.091755 deg, deltaT: 4.530407 s, approachRate: 0.331098 m/s, LOS rate: 0.419565 deg/s, posRepo size: 4
2021-08-14T01:14:30.743Z,1628903670.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.720009 m,
      bearing: 186.091755 deg,
      approachRate: 0.331098 m/s,
      LOS rate: 0.419565 deg/s,
      cmd update: 1.258695 deg/s,
      cmd heading: 122.593051 deg,
      new cmd heading: 120.778464 deg.

2021-08-14T01:14:32.798Z,1628903672.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:32.969Z,1628903672.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:14:32.969Z,1628903672.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:14:32.969Z,1628903672.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:14:32.970Z,1628903672.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:14:33.370Z,1628903673.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19F,000,0072D,185,80,80,66,FF
2021-08-14T01:14:33.370Z,1628903673.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:14:33.370Z,1628903673.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:14:33.373Z,1628903673.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:14:33.797Z,1628903673.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:14:34.181Z,1628903674.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6D,000,00736,189,80,80,7A,FF
2021-08-14T01:14:34.182Z,1628903674.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:14:34.621Z,1628903674.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011434.43*5A

2021-08-14T01:14:34.659Z,1628903674.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.260002 m, bearing: 238.980779 deg, deltaT: 4.048898 s, approachRate: 0.133368 m/s, LOS rate: 13.062573 deg/s, posRepo size: 4
2021-08-14T01:14:34.661Z,1628903674.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.062573 deg/s. Setting heading cmd to target bearing of 238.980779deg and heading rate command to 0 deg/s.
2021-08-14T01:14:37.227Z,1628903677.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:37.417Z,1628903677.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:14:37.417Z,1628903677.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:14:37.417Z,1628903677.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:14:37.418Z,1628903677.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:14:37.843Z,1628903677.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6D,000,00736,189,80,80,7A,FF
2021-08-14T01:14:37.843Z,1628903677.843 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:14:37.844Z,1628903677.844 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:14:37.883Z,1628903677.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:14:38.222Z,1628903678.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:14:38.633Z,1628903678.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,00736,188,80,80,AC,FF
2021-08-14T01:14:38.634Z,1628903678.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:14:39.263Z,1628903679.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.260002 m, bearing: 207.455549 deg, deltaT: 4.444002 s, approachRate: 0.000000 m/s, LOS rate: -7.093883 deg/s, posRepo size: 4
2021-08-14T01:14:39.265Z,1628903679.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.260002 m,
      bearing: 207.455549 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.093883 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 238.980779 deg,
      new cmd heading: 238.980779 deg.

2021-08-14T01:14:39.493Z,1628903679.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011438.94*5C

2021-08-14T01:14:41.508Z,1628903681.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:41.945Z,1628903681.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:14:41.945Z,1628903681.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:14:41.945Z,1628903681.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:14:41.946Z,1628903681.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:14:42.285Z,1628903682.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,00736,188,80,80,AC,FF
2021-08-14T01:14:42.285Z,1628903682.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:14:42.285Z,1628903682.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:14:42.287Z,1628903682.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:14:42.697Z,1628903682.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:14:43.094Z,1628903683.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0072F,189,80,80,86,FF
2021-08-14T01:14:43.094Z,1628903683.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:14:43.546Z,1628903683.546 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011443.34*5A

2021-08-14T01:14:43.784Z,1628903683.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.840004 m, bearing: 109.803514 deg, deltaT: 4.473299 s, approachRate: -0.093890 m/s, LOS rate: -21.829981 deg/s, posRepo size: 4
2021-08-14T01:14:43.785Z,1628903683.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.829981 deg/s. Setting heading cmd to target bearing of 109.803514deg and heading rate command to 0 deg/s.
2021-08-14T01:14:45.801Z,1628903685.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:45.989Z,1628903685.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:14:45.989Z,1628903685.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:14:45.989Z,1628903685.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:14:45.990Z,1628903685.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:14:46.387Z,1628903686.387 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0072F,189,80,80,86,FF
2021-08-14T01:14:46.387Z,1628903686.387 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:14:46.387Z,1628903686.387 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:14:46.389Z,1628903686.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:14:46.824Z,1628903686.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:14:47.193Z,1628903687.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00726,189,80,80,BD,FF
2021-08-14T01:14:47.193Z,1628903687.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:14:47.649Z,1628903687.649 [Micromodem](INFO): Nmea in: $SNTTA,0.054634,,,,011447.44*47

2021-08-14T01:14:47.671Z,1628903687.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 123.483741 deg, deltaT: 4.070803 s, approachRate: -0.132652 m/s, LOS rate: 3.360572 deg/s, posRepo size: 4
2021-08-14T01:14:47.673Z,1628903687.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.300003 m,
      bearing: 123.483741 deg,
      approachRate: -0.132652 m/s,
      LOS rate: 3.360572 deg/s,
      cmd update: 10.081716 deg/s,
      cmd heading: 109.803514 deg,
      new cmd heading: 109.803514 deg.

2021-08-14T01:14:50.319Z,1628903690.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:50.461Z,1628903690.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:14:50.461Z,1628903690.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:14:50.461Z,1628903690.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:14:50.462Z,1628903690.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:14:50.865Z,1628903690.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00726,189,80,80,BD,FF
2021-08-14T01:14:50.865Z,1628903690.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:14:50.865Z,1628903690.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:14:50.867Z,1628903690.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:14:51.274Z,1628903691.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:14:51.288Z,1628903691.288 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T01:14:51.673Z,1628903691.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,488,000,0072D,18A,80,80,52,FF
2021-08-14T01:14:51.673Z,1628903691.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:14:51.943Z,1628903691.943 [Micromodem](INFO): Outgoing frame #1, 64 bytes: CC101761160001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-14T01:14:51.943Z,1628903691.943 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-14T01:14:51.946Z,1628903691.946 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707260262696593C37F3F9CEDFBA5EE3DE5AC732A14AE42F3647FC15CA04FAB07F0EEED9E8
2021-08-14T01:14:51.946Z,1628903691.946 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T01:14:52.245Z,1628903692.245 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T01:14:52.487Z,1628903692.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.720009 m, bearing: 132.579532 deg, deltaT: 4.852615 s, approachRate: 0.086552 m/s, LOS rate: 1.874410 deg/s, posRepo size: 4
2021-08-14T01:14:52.489Z,1628903692.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.720009 m,
      bearing: 132.579532 deg,
      approachRate: 0.086552 m/s,
      LOS rate: 1.874410 deg/s,
      cmd update: 5.623230 deg/s,
      cmd heading: 158.766186 deg,
      new cmd heading: 162.796735 deg.

2021-08-14T01:14:52.657Z,1628903692.657 [Micromodem](INFO): Nmea in: $CADRQ,011452,1,10,0,64,1*75

2021-08-14T01:14:52.658Z,1628903692.658 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC101761160001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*41

2021-08-14T01:14:53.063Z,1628903693.063 [Micromodem](INFO): Nmea in: $SNTTA,,0.404010,,,011451.92*4A

2021-08-14T01:14:53.063Z,1628903693.063 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,0.404010,,,011451.92*4A

2021-08-14T01:14:54.258Z,1628903694.258 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T01:14:54.662Z,1628903694.662 [Micromodem](INFO): Nmea in: $CADRQ,011453,1,10,0,64,2*77

2021-08-14T01:14:54.663Z,1628903694.663 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33

2021-08-14T01:14:54.798Z,1628903694.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:55.069Z,1628903695.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:14:55.069Z,1628903695.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:14:55.070Z,1628903695.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:14:55.071Z,1628903695.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:14:55.124Z,1628903695.124 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T01:14:55.474Z,1628903695.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
488,000,0072D,18A,80,80,52,FF
2021-08-14T01:14:55.474Z,1628903695.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:14:55.474Z,1628903695.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:14:55.476Z,1628903695.476 [Micromodem](INFO): Nmea in: $CADRQ,011455,1,10,0,64,3*70

2021-08-14T01:14:55.477Z,1628903695.477 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707260262696593C37F3F9CEDFBA5EE3DE5AC732A14AE42F3647FC15CA04FAB07F0EEED9E8*48

2021-08-14T01:14:55.908Z,1628903695.908 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T01:14:55.908Z,1628903695.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:14:56.282Z,1628903696.282 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-08-14T01:14:56.282Z,1628903696.282 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-08-14T01:14:57.550Z,1628903697.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:14:59.950Z,1628903699.950 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-08-14T01:14:59.950Z,1628903699.950 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-08-14T01:15:00.051Z,1628903700.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:00.336Z,1628903700.336 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,011456.579957,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6F

2021-08-14T01:15:00.337Z,1628903700.337 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,011456.579957,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6F

2021-08-14T01:15:01.148Z,1628903701.148 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.077401
2021-08-14T01:15:03.002Z,1628903703.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:03.169Z,1628903703.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:15:03.169Z,1628903703.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:15:03.169Z,1628903703.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:15:03.170Z,1628903703.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:15:03.569Z,1628903703.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
488,000,0072D,18A,80,80,52,FF
2021-08-14T01:15:03.569Z,1628903703.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:15:03.569Z,1628903703.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:15:03.571Z,1628903703.571 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T01:15:03.983Z,1628903703.983 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-14T01:15:04.383Z,1628903704.383 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-08-14T01:15:04.385Z,1628903704.385 [Micromodem](INFO): Sent 184 bytes from file Logs/20210814T003940/Courier0022.lzma.parts
2021-08-14T01:15:04.385Z,1628903704.385 [Micromodem](INFO): Packets left to send: 1
2021-08-14T01:15:04.817Z,1628903704.817 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814011503.265024,06,32767,45,0106,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,23.0,12.52,23,-9.52,-01,0.11,43,14500,4000*5E

2021-08-14T01:15:04.817Z,1628903704.817 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814011503.265024,06,32767,45,0106,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,23.0,12.52,23,-9.52,-01,0.11,43,14500,4000*5E

2021-08-14T01:15:04.995Z,1628903704.995 [Micromodem](INFO): Using rate 1 for 9 bytes.
2021-08-14T01:15:04.996Z,1628903704.996 [Micromodem](INFO): Outgoing frame #1, 9 bytes: CC1017611600000000
2021-08-14T01:15:05.841Z,1628903705.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:06.978Z,1628903706.978 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:15:07.380Z,1628903707.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:15:07.392Z,1628903707.392 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:15:07.805Z,1628903707.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35A,000,00736,188,80,80,A6,FF
2021-08-14T01:15:07.805Z,1628903707.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:15:07.808Z,1628903707.808 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:15:08.206Z,1628903708.206 [Micromodem](INFO): Nmea in: $CADRQ,011508,1,10,0,64,1*7B

2021-08-14T01:15:08.206Z,1628903708.206 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-08-14T01:15:08.207Z,1628903708.207 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC1017611600000000*4E

2021-08-14T01:15:08.406Z,1628903708.406 [Micromodem](INFO): Using rate 0 for 9 bytes.
2021-08-14T01:15:08.406Z,1628903708.406 [Micromodem](INFO): Outgoing frame #1, 9 bytes: CC1017611600000000
2021-08-14T01:15:08.446Z,1628903708.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.260002 m, bearing: 158.946343 deg, deltaT: 15.811734 s, approachRate: 0.034151 m/s, LOS rate: 1.667547 deg/s, posRepo size: 4
2021-08-14T01:15:08.449Z,1628903708.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.260002 m,
      bearing: 158.946343 deg,
      approachRate: 0.034151 m/s,
      LOS rate: 1.667547 deg/s,
      cmd update: 5.002641 deg/s,
      cmd heading: 247.354753 deg,
      new cmd heading: 250.757021 deg.

2021-08-14T01:15:08.680Z,1628903708.680 [Micromodem](INFO): Nmea in: $SNTTA,0.385417,0.064357,,,011508.03*5F

2021-08-14T01:15:08.680Z,1628903708.680 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.385417,0.064357,,,011508.03*5F

2021-08-14T01:15:09.907Z,1628903709.907 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,9*72

2021-08-14T01:15:09.907Z,1628903709.907 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:15:10.297Z,1628903710.297 [Micromodem](INFO): Nmea in: $CATXP,9*4B

2021-08-14T01:15:10.297Z,1628903710.297 [Micromodem](ERROR): Response from modem unexpected: $CATXP,9*4B

2021-08-14T01:15:10.678Z,1628903710.678 [Micromodem](INFO): Nmea in: $CATXF,9*5D

2021-08-14T01:15:10.678Z,1628903710.678 [Micromodem](ERROR): Response from modem unexpected: $CATXF,9*5D

2021-08-14T01:15:10.757Z,1628903710.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:11.081Z,1628903711.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:15:11.081Z,1628903711.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:15:11.082Z,1628903711.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:15:11.082Z,1628903711.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:15:11.093Z,1628903711.093 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,011509.227869,3,0,200,4000,14500,1,1,10,1,1,1,3,9,14500*67

2021-08-14T01:15:11.094Z,1628903711.094 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,011509.227869,3,0,200,4000,14500,1,1,10,1,1,1,3,9,14500*67

2021-08-14T01:15:11.537Z,1628903711.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35A,000,00736,188,80,80,A6,FF
2021-08-14T01:15:11.537Z,1628903711.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:15:11.538Z,1628903711.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:15:12.349Z,1628903712.349 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T01:15:12.350Z,1628903712.350 [Micromodem](INFO): Sent 1 bytes from file Logs/20210814T003940/Courier0022.lzma.parts
2021-08-14T01:15:12.350Z,1628903712.350 [Micromodem](INFO): Packets left to send: 0
2021-08-14T01:15:12.783Z,1628903712.783 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814011512.092247,06,32767,45,0104,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,25.4,10.15,20,-7.15,-01,0.36,40,14500,4000*5A

2021-08-14T01:15:12.783Z,1628903712.783 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814011512.092247,06,32767,45,0104,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,25.4,10.15,20,-7.15,-01,0.36,40,14500,4000*5A

2021-08-14T01:15:12.995Z,1628903712.995 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T01:15:12.995Z,1628903712.995 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T01:15:12.995Z,1628903712.995 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T01:15:12.995Z,1628903712.995 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T01:15:12.995Z,1628903712.995 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T01:15:13.621Z,1628903713.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:16.250Z,1628903716.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:17.448Z,1628903717.448 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.365639
2021-08-14T01:15:19.109Z,1628903719.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:19.457Z,1628903719.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:15:19.457Z,1628903719.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:15:19.457Z,1628903719.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:15:19.458Z,1628903719.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:15:19.882Z,1628903719.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35A,000,00736,188,80,80,A6,FF
2021-08-14T01:15:19.882Z,1628903719.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:15:19.883Z,1628903719.883 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:15:21.082Z,1628903721.082 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:15:21.486Z,1628903721.486 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:15:21.487Z,1628903721.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:15:21.491Z,1628903721.491 [Micromodem](INFO): Nmea in: $CADRQ,011522,1,10,0,64,1*73

2021-08-14T01:15:21.493Z,1628903721.493 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,011522,1,10,0,64,1*73

2021-08-14T01:15:21.924Z,1628903721.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:15:22.002Z,1628903722.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:22.282Z,1628903722.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,007AC,187,80,80,76,FF
2021-08-14T01:15:22.282Z,1628903722.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:15:22.769Z,1628903722.769 [Micromodem](INFO): Nmea in: $SNTTA,0.067576,,,,011522.54*41

2021-08-14T01:15:22.815Z,1628903722.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.340004 m, bearing: 232.764705 deg, deltaT: 14.403956 s, approachRate: 0.491532 m/s, LOS rate: 5.124867 deg/s, posRepo size: 4
2021-08-14T01:15:22.817Z,1628903722.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.340004 m,
      bearing: 232.764705 deg,
      approachRate: 0.491532 m/s,
      LOS rate: 5.124867 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 319.701247 deg,
      new cmd heading: 322.262619 deg.

2021-08-14T01:15:25.138Z,1628903725.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:25.513Z,1628903725.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:15:25.514Z,1628903725.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:15:25.514Z,1628903725.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:15:25.515Z,1628903725.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:15:25.957Z,1628903725.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,007AC,187,80,80,76,FF
2021-08-14T01:15:25.957Z,1628903725.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:15:25.957Z,1628903725.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:15:25.959Z,1628903725.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:15:26.329Z,1628903726.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:15:26.726Z,1628903726.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,007D7,186,80,80,67,FF
2021-08-14T01:15:26.726Z,1628903726.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:15:27.143Z,1628903727.143 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011527.01*5F

2021-08-14T01:15:27.194Z,1628903727.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.919998 m, bearing: 278.466047 deg, deltaT: 4.490742 s, approachRate: 0.574514 m/s, LOS rate: 10.176791 deg/s, posRepo size: 4
2021-08-14T01:15:27.197Z,1628903727.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.919998 m,
      bearing: 278.466047 deg,
      approachRate: 0.574514 m/s,
      LOS rate: 10.176791 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 13.542104 deg,
      new cmd heading: 18.398564 deg.

2021-08-14T01:15:29.592Z,1628903729.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:29.957Z,1628903729.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:15:29.958Z,1628903729.958 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:15:29.958Z,1628903729.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:15:29.959Z,1628903729.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:15:30.370Z,1628903730.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,007D7,186,80,80,67,FF
2021-08-14T01:15:30.370Z,1628903730.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:15:30.370Z,1628903730.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:15:30.372Z,1628903730.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:15:30.789Z,1628903730.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:15:31.170Z,1628903731.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00808,186,80,80,6F,FF
2021-08-14T01:15:31.170Z,1628903731.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:15:31.621Z,1628903731.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011531.43*5E

2021-08-14T01:15:31.643Z,1628903731.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.860001 m, bearing: 305.190474 deg, deltaT: 4.418250 s, approachRate: 0.665422 m/s, LOS rate: 6.048645 deg/s, posRepo size: 4
2021-08-14T01:15:31.665Z,1628903731.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.860001 m,
      bearing: 305.190474 deg,
      approachRate: 0.665422 m/s,
      LOS rate: 6.048645 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 66.609069 deg,
      new cmd heading: 71.778898 deg.

2021-08-14T01:15:34.074Z,1628903734.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:34.426Z,1628903734.426 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:15:34.427Z,1628903734.427 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:15:34.427Z,1628903734.427 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:15:34.428Z,1628903734.428 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:15:34.821Z,1628903734.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,00808,186,80,80,6F,FF
2021-08-14T01:15:34.821Z,1628903734.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:15:34.821Z,1628903734.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:15:34.823Z,1628903734.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:15:35.213Z,1628903735.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:15:35.621Z,1628903735.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A7,000,00822,186,80,80,8C,FF
2021-08-14T01:15:35.622Z,1628903735.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:15:36.049Z,1628903736.049 [Micromodem](INFO): Nmea in: $SNTTA,0.060190,,,,011535.88*4D

2021-08-14T01:15:36.115Z,1628903736.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.419998 m, bearing: 287.267375 deg, deltaT: 4.431505 s, approachRate: 0.352024 m/s, LOS rate: -4.044472 deg/s, posRepo size: 4
2021-08-14T01:15:36.121Z,1628903736.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.419998 m,
      bearing: 287.267375 deg,
      approachRate: 0.352024 m/s,
      LOS rate: -4.044472 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 119.784335 deg,
      new cmd heading: 125.441483 deg.

2021-08-14T01:15:38.459Z,1628903738.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:38.849Z,1628903738.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:15:38.849Z,1628903738.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:15:38.849Z,1628903738.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:15:38.850Z,1628903738.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:15:39.250Z,1628903739.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A7,000,00822,186,80,80,8C,FF
2021-08-14T01:15:39.250Z,1628903739.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:15:39.250Z,1628903739.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:15:39.252Z,1628903739.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:15:39.676Z,1628903739.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:15:40.058Z,1628903740.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE6,000,00842,189,80,80,77,FF
2021-08-14T01:15:40.058Z,1628903740.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:15:40.506Z,1628903740.506 [Micromodem](INFO): Nmea in: $SNTTA,0.059146,,,,011540.31*4C

2021-08-14T01:15:40.532Z,1628903740.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.340004 m, bearing: 5.020806 deg, deltaT: 4.509288 s, approachRate: 0.425789 m/s, LOS rate: 17.242953 deg/s, posRepo size: 4
2021-08-14T01:15:40.533Z,1628903740.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.242953 deg/s. Setting heading cmd to target bearing of 5.020806deg and heading rate command to 0 deg/s.
2021-08-14T01:15:42.942Z,1628903742.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:43.297Z,1628903743.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:15:43.297Z,1628903743.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:15:43.297Z,1628903743.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:15:43.298Z,1628903743.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:15:43.703Z,1628903743.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE6,000,00842,189,80,80,77,FF
2021-08-14T01:15:43.703Z,1628903743.703 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:15:43.703Z,1628903743.703 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:15:43.705Z,1628903743.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:15:44.105Z,1628903744.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:15:44.513Z,1628903744.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,176,000,0084C,186,80,80,67,FF
2021-08-14T01:15:44.514Z,1628903744.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:15:44.941Z,1628903744.941 [Micromodem](INFO): Nmea in: $SNTTA,,0.059449,,,011544.76*41

2021-08-14T01:15:44.984Z,1628903744.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.940002 m, bearing: 324.694708 deg, deltaT: 4.415369 s, approachRate: 0.135889 m/s, LOS rate: -9.133123 deg/s, posRepo size: 4
2021-08-14T01:15:44.986Z,1628903744.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.940002 m,
      bearing: 324.694708 deg,
      approachRate: 0.135889 m/s,
      LOS rate: -9.133123 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 5.020806 deg,
      new cmd heading: 5.020806 deg.

2021-08-14T01:15:46.545Z,1628903746.545 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T01:15:47.355Z,1628903747.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:47.734Z,1628903747.734 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:15:47.734Z,1628903747.734 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:15:47.735Z,1628903747.735 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:15:47.735Z,1628903747.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:15:48.156Z,1628903748.156 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
176,000,0084C,186,80,80,67,FF
2021-08-14T01:15:48.157Z,1628903748.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:15:48.157Z,1628903748.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:15:48.158Z,1628903748.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:15:48.553Z,1628903748.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:15:48.955Z,1628903748.955 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9C,000,0084B,188,80,80,93,FF
2021-08-14T01:15:48.956Z,1628903748.956 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:15:49.394Z,1628903749.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011549.21*55

2021-08-14T01:15:49.411Z,1628903749.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.879997 m, bearing: 31.378808 deg, deltaT: 4.414905 s, approachRate: -0.013592 m/s, LOS rate: 15.104314 deg/s, posRepo size: 4
2021-08-14T01:15:49.412Z,1628903749.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.104314 deg/s. Setting heading cmd to target bearing of 31.378808deg and heading rate command to 0 deg/s.
2021-08-14T01:15:51.389Z,1628903751.389 [Micromodem](INFO): Nmea in: $CAERR,011552,DATA_TIMEOUT,1*4C

2021-08-14T01:15:51.912Z,1628903751.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:52.173Z,1628903752.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:15:52.173Z,1628903752.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:15:52.173Z,1628903752.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:15:52.174Z,1628903752.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:15:52.591Z,1628903752.591 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9C,000,0084B,188,80,80,93,FF
2021-08-14T01:15:52.591Z,1628903752.591 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:15:52.592Z,1628903752.592 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:15:52.595Z,1628903752.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:15:52.989Z,1628903752.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:15:53.407Z,1628903753.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,00847,189,80,80,AC,FF
2021-08-14T01:15:53.409Z,1628903753.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:15:53.860Z,1628903753.860 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011553.65*5E

2021-08-14T01:15:53.933Z,1628903753.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.640007 m, bearing: 43.506471 deg, deltaT: 4.504030 s, approachRate: -0.053283 m/s, LOS rate: 2.692625 deg/s, posRepo size: 4
2021-08-14T01:15:53.935Z,1628903753.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.640007 m,
      bearing: 43.506471 deg,
      approachRate: -0.053283 m/s,
      LOS rate: 2.692625 deg/s,
      cmd update: 8.077875 deg/s,
      cmd heading: 31.378808 deg,
      new cmd heading: 31.378808 deg.

2021-08-14T01:15:56.271Z,1628903756.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:15:56.617Z,1628903756.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:15:56.617Z,1628903756.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:15:56.617Z,1628903756.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:15:56.618Z,1628903756.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:15:57.021Z,1628903757.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,00847,189,80,80,AC,FF
2021-08-14T01:15:57.021Z,1628903757.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:15:57.022Z,1628903757.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:15:57.023Z,1628903757.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:15:57.437Z,1628903757.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:15:57.833Z,1628903757.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E21,000,00845,186,80,80,9C,FF
2021-08-14T01:15:57.834Z,1628903757.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:15:58.273Z,1628903758.273 [Micromodem](INFO): Nmea in: $SNTTA,0.064874,,,,011558.08*49

2021-08-14T01:15:58.371Z,1628903758.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.519997 m, bearing: 20.802958 deg, deltaT: 4.451600 s, approachRate: -0.026959 m/s, LOS rate: -5.100079 deg/s, posRepo size: 4
2021-08-14T01:15:58.379Z,1628903758.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.519997 m,
      bearing: 20.802958 deg,
      approachRate: -0.026959 m/s,
      LOS rate: -5.100079 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 67.338140 deg,
      new cmd heading: 70.858793 deg.

2021-08-14T01:16:00.686Z,1628903760.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:16:01.061Z,1628903761.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:16:01.061Z,1628903761.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:16:01.061Z,1628903761.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:16:01.062Z,1628903761.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:16:01.474Z,1628903761.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E21,000,00845,186,80,80,9C,FF
2021-08-14T01:16:01.474Z,1628903761.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:16:01.474Z,1628903761.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:16:01.476Z,1628903761.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:16:01.915Z,1628903761.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:16:02.282Z,1628903762.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D80,000,00844,188,80,80,92,FF
2021-08-14T01:16:02.282Z,1628903762.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:16:02.745Z,1628903762.745 [Micromodem](INFO): Nmea in: $SNTTA,0.201758,,,,011602.53*4B

2021-08-14T01:16:02.795Z,1628903762.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.459999 m, bearing: 38.525518 deg, deltaT: 4.379774 s, approachRate: -0.013699 m/s, LOS rate: 4.046456 deg/s, posRepo size: 4
2021-08-14T01:16:02.801Z,1628903762.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.459999 m,
      bearing: 38.525518 deg,
      approachRate: -0.013699 m/s,
      LOS rate: 4.046456 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 14.733162 deg,
      new cmd heading: 9.021366 deg.

2021-08-14T01:16:05.147Z,1628903765.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:16:05.513Z,1628903765.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:16:05.513Z,1628903765.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:16:05.513Z,1628903765.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:16:05.514Z,1628903765.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:16:05.949Z,1628903765.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D80,000,00844,188,80,80,92,FF
2021-08-14T01:16:05.949Z,1628903765.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:16:05.949Z,1628903765.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:16:05.951Z,1628903765.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:16:06.318Z,1628903766.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:16:07.144Z,1628903767.144 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011607.01*5E

2021-08-14T01:16:08.024Z,1628903768.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:16:09.545Z,1628903769.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,188,80,80,92,FF
2021-08-14T01:16:09.545Z,1628903769.545 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,188,80,80,92,FF
2021-08-14T01:16:09.545Z,1628903769.545 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:16:10.825Z,1628903770.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:16:11.161Z,1628903771.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:16:11.161Z,1628903771.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:16:11.161Z,1628903771.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:16:11.162Z,1628903771.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:16:11.569Z,1628903771.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,188,80,80,92,FF
2021-08-14T01:16:11.569Z,1628903771.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:16:11.569Z,1628903771.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:16:11.571Z,1628903771.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:16:12.029Z,1628903772.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:16:12.826Z,1628903772.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011612.63*5E

2021-08-14T01:16:13.233Z,1628903773.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C57,000,03473,189,80,80,B2,FF
2021-08-14T01:16:13.233Z,1628903773.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:16:13.661Z,1628903773.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 768.119995 m, bearing: 87.030844 deg, deltaT: 10.932321 s, approachRate: 62.078308 m/s, LOS rate: 4.436873 deg/s, posRepo size: 4
2021-08-14T01:16:13.663Z,1628903773.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 768.119995 m,
      bearing: 87.030844 deg,
      approachRate: 62.078308 m/s,
      LOS rate: 4.436873 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 145.921209 deg,
      new cmd heading: 150.838629 deg.

2021-08-14T01:16:16.121Z,1628903776.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:16:16.449Z,1628903776.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:16:16.449Z,1628903776.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:16:16.449Z,1628903776.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:16:16.450Z,1628903776.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:16:16.861Z,1628903776.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C57,000,03473,189,80,80,B2,FF
2021-08-14T01:16:16.861Z,1628903776.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:16:16.861Z,1628903776.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:16:16.863Z,1628903776.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:16:17.336Z,1628903777.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:16:17.723Z,1628903777.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5F,000,00801,18A,80,80,92,FF
2021-08-14T01:16:17.724Z,1628903777.724 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:16:18.145Z,1628903778.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011617.92*55

2021-08-14T01:16:18.207Z,1628903778.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.440002 m, bearing: 89.177019 deg, deltaT: 4.532148 s, approachRate: -150.630554 m/s, LOS rate: 0.473545 deg/s, posRepo size: 4
2021-08-14T01:16:18.210Z,1628903778.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.440002 m,
      bearing: 89.177019 deg,
      approachRate: -150.630554 m/s,
      LOS rate: 0.473545 deg/s,
      cmd update: 1.420634 deg/s,
      cmd heading: 200.258579 deg,
      new cmd heading: 205.399211 deg.

2021-08-14T01:16:20.570Z,1628903780.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:16:20.945Z,1628903780.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:16:20.945Z,1628903780.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:16:20.945Z,1628903780.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:16:20.946Z,1628903780.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:16:21.362Z,1628903781.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5F,000,00801,18A,80,80,92,FF
2021-08-14T01:16:21.362Z,1628903781.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:16:21.362Z,1628903781.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:16:21.388Z,1628903781.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:16:21.788Z,1628903781.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:16:22.154Z,1628903782.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,007DE,188,80,80,AD,FF
2021-08-14T01:16:22.154Z,1628903782.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:16:22.575Z,1628903782.575 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011622.45*59

2021-08-14T01:16:22.616Z,1628903782.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.340004 m, bearing: 101.113595 deg, deltaT: 4.392177 s, approachRate: -0.478122 m/s, LOS rate: 2.717690 deg/s, posRepo size: 4
2021-08-14T01:16:22.618Z,1628903782.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.340004 m,
      bearing: 101.113595 deg,
      approachRate: -0.478122 m/s,
      LOS rate: 2.717690 deg/s,
      cmd update: 8.153070 deg/s,
      cmd heading: 206.504056 deg,
      new cmd heading: 207.124809 deg.

2021-08-14T01:16:25.014Z,1628903785.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:16:25.401Z,1628903785.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:16:25.401Z,1628903785.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:16:25.401Z,1628903785.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:16:25.402Z,1628903785.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:16:25.830Z,1628903785.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,007DE,188,80,80,AD,FF
2021-08-14T01:16:25.830Z,1628903785.830 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:16:25.830Z,1628903785.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:16:25.831Z,1628903785.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:16:26.206Z,1628903786.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:16:26.601Z,1628903786.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,007B4,186,80,80,A1,FF
2021-08-14T01:16:26.602Z,1628903786.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:16:27.037Z,1628903787.037 [Micromodem](INFO): Nmea in: $SNTTA,0.067398,,,,011626.89*40

2021-08-14T01:16:27.067Z,1628903787.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.820000 m, bearing: 100.595053 deg, deltaT: 4.479135 s, approachRate: -0.562610 m/s, LOS rate: -0.115768 deg/s, posRepo size: 4
2021-08-14T01:16:27.070Z,1628903787.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.820000 m,
      bearing: 100.595053 deg,
      approachRate: -0.562610 m/s,
      LOS rate: -0.115768 deg/s,
      cmd update: -0.347304 deg/s,
      cmd heading: 242.989910 deg,
      new cmd heading: 246.389725 deg.

2021-08-14T01:16:29.446Z,1628903789.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:16:29.845Z,1628903789.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:16:29.845Z,1628903789.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:16:29.846Z,1628903789.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:16:29.847Z,1628903789.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:16:30.241Z,1628903790.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,007B4,186,80,80,A1,FF
2021-08-14T01:16:30.241Z,1628903790.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:16:30.241Z,1628903790.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:16:30.243Z,1628903790.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:16:30.650Z,1628903790.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:16:31.045Z,1628903791.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,100,000,00787,186,80,80,98,FF
2021-08-14T01:16:31.045Z,1628903791.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:16:31.489Z,1628903791.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011631.30*59

2021-08-14T01:16:31.507Z,1628903791.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.119995 m, bearing: 99.107042 deg, deltaT: 4.454916 s, approachRate: -0.606073 m/s, LOS rate: -0.334016 deg/s, posRepo size: 4
2021-08-14T01:16:31.510Z,1628903791.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.119995 m,
      bearing: 99.107042 deg,
      approachRate: -0.606073 m/s,
      LOS rate: -0.334016 deg/s,
      cmd update: -1.002047 deg/s,
      cmd heading: 241.445273 deg,
      new cmd heading: 241.303006 deg.

2021-08-14T01:16:33.966Z,1628903793.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:16:34.277Z,1628903794.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:16:34.277Z,1628903794.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:16:34.277Z,1628903794.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:16:34.278Z,1628903794.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:16:34.689Z,1628903794.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
100,000,00787,186,80,80,98,FF
2021-08-14T01:16:34.689Z,1628903794.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:16:34.689Z,1628903794.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:16:34.691Z,1628903794.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:16:35.093Z,1628903795.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:16:35.489Z,1628903795.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,00765,189,80,80,9E,FF
2021-08-14T01:16:35.490Z,1628903795.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:16:35.954Z,1628903795.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011635.75*5C

2021-08-14T01:16:36.027Z,1628903796.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.080002 m, bearing: 96.743906 deg, deltaT: 4.460311 s, approachRate: -0.457366 m/s, LOS rate: -0.529814 deg/s, posRepo size: 4
2021-08-14T01:16:36.033Z,1628903796.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.080002 m,
      bearing: 96.743906 deg,
      approachRate: -0.457366 m/s,
      LOS rate: -0.529814 deg/s,
      cmd update: -1.589443 deg/s,
      cmd heading: 236.965469 deg,
      new cmd heading: 236.506107 deg.

2021-08-14T01:16:38.338Z,1628903798.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:16:38.733Z,1628903798.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:16:38.733Z,1628903798.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:16:38.733Z,1628903798.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:16:38.734Z,1628903798.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:16:39.129Z,1628903799.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,00765,189,80,80,9E,FF
2021-08-14T01:16:39.130Z,1628903799.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:16:39.130Z,1628903799.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:16:39.131Z,1628903799.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:16:39.536Z,1628903799.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:16:39.953Z,1628903799.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,421,000,00739,18A,80,80,9D,FF
2021-08-14T01:16:39.954Z,1628903799.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:16:40.409Z,1628903800.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011640.19*54

2021-08-14T01:16:40.427Z,1628903800.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.440002 m, bearing: 96.931606 deg, deltaT: 4.487221 s, approachRate: -0.588337 m/s, LOS rate: 0.041830 deg/s, posRepo size: 4
2021-08-14T01:16:40.430Z,1628903800.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.440002 m,
      bearing: 96.931606 deg,
      approachRate: -0.588337 m/s,
      LOS rate: 0.041830 deg/s,
      cmd update: 0.125490 deg/s,
      cmd heading: 229.847912 deg,
      new cmd heading: 229.242425 deg.

2021-08-14T01:16:42.837Z,1628903802.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:16:43.165Z,1628903803.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:16:43.165Z,1628903803.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:16:43.165Z,1628903803.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:16:43.166Z,1628903803.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:16:43.569Z,1628903803.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
421,000,00739,18A,80,80,9D,FF
2021-08-14T01:16:43.569Z,1628903803.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:16:43.569Z,1628903803.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:16:43.571Z,1628903803.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:16:43.977Z,1628903803.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:16:44.381Z,1628903804.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7B,000,00724,188,80,80,99,FF
2021-08-14T01:16:44.382Z,1628903804.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:16:44.851Z,1628903804.851 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011644.63*5D

2021-08-14T01:16:44.901Z,1628903804.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.180000 m, bearing: 200.149896 deg, deltaT: 4.365705 s, approachRate: -0.288614 m/s, LOS rate: 23.642983 deg/s, posRepo size: 4
2021-08-14T01:16:44.902Z,1628903804.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.642983 deg/s. Setting heading cmd to target bearing of 200.149896deg and heading rate command to 0 deg/s.
2021-08-14T01:16:47.238Z,1628903807.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:16:47.609Z,1628903807.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:16:47.609Z,1628903807.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:16:47.609Z,1628903807.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:16:47.610Z,1628903807.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:16:48.025Z,1628903808.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7B,000,00724,188,80,80,99,FF
2021-08-14T01:16:48.025Z,1628903808.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:16:48.025Z,1628903808.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:16:48.027Z,1628903808.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:16:48.531Z,1628903808.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:16:48.910Z,1628903808.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0071E,189,80,80,9C,FF
2021-08-14T01:16:48.910Z,1628903808.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:16:49.333Z,1628903809.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011649.09*5C

2021-08-14T01:16:49.383Z,1628903809.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.820000 m, bearing: 123.809377 deg, deltaT: 4.541767 s, approachRate: -0.079264 m/s, LOS rate: -16.808551 deg/s, posRepo size: 4
2021-08-14T01:16:49.388Z,1628903809.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.808551 deg/s. Setting heading cmd to target bearing of 123.809377deg and heading rate command to 0 deg/s.
2021-08-14T01:16:51.813Z,1628903811.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:16:52.148Z,1628903812.148 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:16:52.148Z,1628903812.148 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:16:52.149Z,1628903812.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:16:52.150Z,1628903812.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:16:52.557Z,1628903812.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0071E,189,80,80,9C,FF
2021-08-14T01:16:52.557Z,1628903812.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:16:52.557Z,1628903812.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:16:52.559Z,1628903812.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:16:52.959Z,1628903812.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:16:53.355Z,1628903813.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,00722,186,80,80,96,FF
2021-08-14T01:16:53.372Z,1628903813.372 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:16:53.817Z,1628903813.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011653.62*5A

2021-08-14T01:16:53.926Z,1628903813.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.060005 m, bearing: 185.667805 deg, deltaT: 4.444329 s, approachRate: 0.054003 m/s, LOS rate: 13.918507 deg/s, posRepo size: 4
2021-08-14T01:16:53.927Z,1628903813.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.918507 deg/s. Setting heading cmd to target bearing of 185.667805deg and heading rate command to 0 deg/s.
2021-08-14T01:16:55.923Z,1628903815.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:16:56.191Z,1628903816.191 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:16:56.191Z,1628903816.191 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:16:56.191Z,1628903816.191 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:16:56.203Z,1628903816.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:16:56.589Z,1628903816.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,00722,186,80,80,96,FF
2021-08-14T01:16:56.589Z,1628903816.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:16:56.589Z,1628903816.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:16:56.591Z,1628903816.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:16:56.996Z,1628903816.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:16:57.406Z,1628903817.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0072B,189,80,80,78,FF
2021-08-14T01:16:57.406Z,1628903817.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:16:57.865Z,1628903817.865 [Micromodem](INFO): Nmea in: $SNTTA,0.056941,,,,011657.65*48

2021-08-14T01:16:57.986Z,1628903817.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.599998 m, bearing: 123.891189 deg, deltaT: 4.018571 s, approachRate: 0.134374 m/s, LOS rate: -15.372782 deg/s, posRepo size: 4
2021-08-14T01:16:57.987Z,1628903817.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.372782 deg/s. Setting heading cmd to target bearing of 123.891189deg and heading rate command to 0 deg/s.
2021-08-14T01:16:59.952Z,1628903819.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:00.229Z,1628903820.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:17:00.229Z,1628903820.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:17:00.229Z,1628903820.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:17:00.230Z,1628903820.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:17:00.629Z,1628903820.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0072B,189,80,80,78,FF
2021-08-14T01:17:00.629Z,1628903820.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:17:00.629Z,1628903820.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:17:00.631Z,1628903820.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:17:01.059Z,1628903821.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:17:01.437Z,1628903821.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0072A,189,80,80,84,FF
2021-08-14T01:17:01.438Z,1628903821.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:17:01.906Z,1628903821.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011701.69*57

2021-08-14T01:17:01.995Z,1628903821.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.540009 m, bearing: 110.396102 deg, deltaT: 4.056329 s, approachRate: -0.014789 m/s, LOS rate: -3.326921 deg/s, posRepo size: 4
2021-08-14T01:17:01.997Z,1628903821.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.540009 m,
      bearing: 110.396102 deg,
      approachRate: -0.014789 m/s,
      LOS rate: -3.326921 deg/s,
      cmd update: -9.980764 deg/s,
      cmd heading: 123.891189 deg,
      new cmd heading: 123.891189 deg.

2021-08-14T01:17:04.312Z,1628903824.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:04.677Z,1628903824.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:17:04.678Z,1628903824.678 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:17:04.678Z,1628903824.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:17:04.679Z,1628903824.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:17:05.093Z,1628903825.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0072A,189,80,80,84,FF
2021-08-14T01:17:05.093Z,1628903825.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:17:05.093Z,1628903825.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:17:05.095Z,1628903825.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:17:05.481Z,1628903825.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:17:05.933Z,1628903825.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00726,189,80,80,89,FF
2021-08-14T01:17:05.934Z,1628903825.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:17:06.309Z,1628903826.309 [Micromodem](INFO): Nmea in: $SNTTA,0.058078,,,,011706.15*47

2021-08-14T01:17:06.350Z,1628903826.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 99.528793 deg, deltaT: 4.547120 s, approachRate: -0.052782 m/s, LOS rate: -2.389932 deg/s, posRepo size: 4
2021-08-14T01:17:06.354Z,1628903826.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.300003 m,
      bearing: 99.528793 deg,
      approachRate: -0.052782 m/s,
      LOS rate: -2.389932 deg/s,
      cmd update: -7.169796 deg/s,
      cmd heading: 78.508615 deg,
      new cmd heading: 75.291276 deg.

2021-08-14T01:17:08.755Z,1628903828.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:09.113Z,1628903829.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:17:09.113Z,1628903829.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:17:09.114Z,1628903829.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:17:09.115Z,1628903829.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:17:09.526Z,1628903829.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00726,189,80,80,89,FF
2021-08-14T01:17:09.526Z,1628903829.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:17:09.526Z,1628903829.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:17:09.528Z,1628903829.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:17:09.963Z,1628903829.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:17:10.325Z,1628903830.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00713,189,80,80,B1,FF
2021-08-14T01:17:10.326Z,1628903830.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:17:10.780Z,1628903830.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011710.58*55

2021-08-14T01:17:10.841Z,1628903830.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.159996 m, bearing: 81.212595 deg, deltaT: 4.314826 s, approachRate: -0.264207 m/s, LOS rate: -4.244945 deg/s, posRepo size: 4
2021-08-14T01:17:10.843Z,1628903830.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.159996 m,
      bearing: 81.212595 deg,
      approachRate: -0.264207 m/s,
      LOS rate: -4.244945 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 47.562118 deg,
      new cmd heading: 43.987035 deg.

2021-08-14T01:17:13.188Z,1628903833.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:13.568Z,1628903833.568 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:17:13.568Z,1628903833.568 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:17:13.568Z,1628903833.568 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:17:13.569Z,1628903833.569 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:17:13.963Z,1628903833.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00713,189,80,80,B1,FF
2021-08-14T01:17:13.963Z,1628903833.963 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:17:13.963Z,1628903833.963 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:17:13.967Z,1628903833.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:17:14.375Z,1628903834.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:17:14.795Z,1628903834.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,363,000,006F9,189,80,80,B5,FF
2021-08-14T01:17:14.795Z,1628903834.795 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:17:15.214Z,1628903835.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011715.02*5F

2021-08-14T01:17:15.249Z,1628903835.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.600006 m, bearing: 86.133794 deg, deltaT: 4.531629 s, approachRate: -0.344245 m/s, LOS rate: 1.085967 deg/s, posRepo size: 4
2021-08-14T01:17:15.251Z,1628903835.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.600006 m,
      bearing: 86.133794 deg,
      approachRate: -0.344245 m/s,
      LOS rate: 1.085967 deg/s,
      cmd update: 3.257901 deg/s,
      cmd heading: 353.248904 deg,
      new cmd heading: 348.694256 deg.

2021-08-14T01:17:17.643Z,1628903837.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:18.011Z,1628903838.011 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:17:18.011Z,1628903838.011 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:17:18.011Z,1628903838.011 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:17:18.011Z,1628903838.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:17:18.416Z,1628903838.416 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
363,000,006F9,189,80,80,B5,FF
2021-08-14T01:17:18.417Z,1628903838.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:17:18.417Z,1628903838.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:17:18.418Z,1628903838.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:17:18.821Z,1628903838.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:17:19.229Z,1628903839.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EA,000,006D5,18A,80,80,4C,FF
2021-08-14T01:17:19.229Z,1628903839.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:17:19.653Z,1628903839.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011719.48*5D

2021-08-14T01:17:19.705Z,1628903839.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.440002 m, bearing: 75.837025 deg, deltaT: 4.390459 s, approachRate: -0.491977 m/s, LOS rate: -2.345260 deg/s, posRepo size: 4
2021-08-14T01:17:19.709Z,1628903839.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.440002 m,
      bearing: 75.837025 deg,
      approachRate: -0.491977 m/s,
      LOS rate: -2.345260 deg/s,
      cmd update: -7.035781 deg/s,
      cmd heading: 7.563058 deg,
      new cmd heading: 8.937013 deg.

2021-08-14T01:17:22.131Z,1628903842.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:22.449Z,1628903842.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:17:22.449Z,1628903842.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:17:22.449Z,1628903842.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:17:22.450Z,1628903842.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:17:22.853Z,1628903842.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EA,000,006D5,18A,80,80,4C,FF
2021-08-14T01:17:22.853Z,1628903842.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:17:22.853Z,1628903842.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:17:22.855Z,1628903842.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:17:23.253Z,1628903843.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:17:24.082Z,1628903844.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011723.91*50

2021-08-14T01:17:24.923Z,1628903844.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:26.496Z,1628903846.496 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,18A,80,80,4C,FF
2021-08-14T01:17:26.496Z,1628903846.496 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,18A,80,80,4C,FF
2021-08-14T01:17:26.497Z,1628903846.497 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:17:27.774Z,1628903847.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:28.101Z,1628903848.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:17:28.101Z,1628903848.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:17:28.101Z,1628903848.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:17:28.102Z,1628903848.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:17:28.505Z,1628903848.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,18A,80,80,4C,FF
2021-08-14T01:17:28.505Z,1628903848.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:17:28.505Z,1628903848.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:17:28.507Z,1628903848.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:17:28.930Z,1628903848.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:17:29.313Z,1628903849.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7F,000,00665,186,80,80,B7,FF
2021-08-14T01:17:29.314Z,1628903849.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:17:29.785Z,1628903849.785 [Micromodem](INFO): Nmea in: $SNTTA,0.047361,,,,011729.56*48

2021-08-14T01:17:29.830Z,1628903849.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.720005 m, bearing: 80.063969 deg, deltaT: 10.103513 s, approachRate: -0.665115 m/s, LOS rate: 0.418364 deg/s, posRepo size: 4
2021-08-14T01:17:29.837Z,1628903849.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.720005 m,
      bearing: 80.063969 deg,
      approachRate: -0.665115 m/s,
      LOS rate: 0.418364 deg/s,
      cmd update: 1.255092 deg/s,
      cmd heading: 296.515183 deg,
      new cmd heading: 293.209913 deg.

2021-08-14T01:17:32.193Z,1628903852.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:32.545Z,1628903852.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:17:32.545Z,1628903852.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:17:32.545Z,1628903852.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:17:32.546Z,1628903852.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:17:32.965Z,1628903852.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7F,000,00665,186,80,80,B7,FF
2021-08-14T01:17:32.965Z,1628903852.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:17:32.966Z,1628903852.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:17:32.967Z,1628903852.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:17:33.359Z,1628903853.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:17:33.775Z,1628903853.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,0063A,189,80,80,78,FF
2021-08-14T01:17:33.781Z,1628903853.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:17:34.193Z,1628903854.193 [Micromodem](INFO): Nmea in: $SNTTA,0.061825,,,,011734.03*4B

2021-08-14T01:17:34.248Z,1628903854.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.139999 m, bearing: 84.900699 deg, deltaT: 4.519932 s, approachRate: -0.570806 m/s, LOS rate: 1.070089 deg/s, posRepo size: 4
2021-08-14T01:17:34.250Z,1628903854.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.139999 m,
      bearing: 84.900699 deg,
      approachRate: -0.570806 m/s,
      LOS rate: 1.070089 deg/s,
      cmd update: 3.210267 deg/s,
      cmd heading: 302.164555 deg,
      new cmd heading: 302.644497 deg.

2021-08-14T01:17:36.603Z,1628903856.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:37.001Z,1628903857.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:17:37.001Z,1628903857.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:17:37.001Z,1628903857.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:17:37.002Z,1628903857.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:17:37.402Z,1628903857.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,0063A,189,80,80,78,FF
2021-08-14T01:17:37.402Z,1628903857.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:17:37.402Z,1628903857.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:17:37.428Z,1628903857.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:17:37.822Z,1628903857.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:17:38.201Z,1628903858.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C92,000,00615,188,80,80,AC,FF
2021-08-14T01:17:38.202Z,1628903858.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:17:38.641Z,1628903858.641 [Micromodem](INFO): Nmea in: $SNTTA,0.047807,,,,011738.48*4C

2021-08-14T01:17:38.665Z,1628903858.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.920002 m, bearing: 84.522751 deg, deltaT: 4.376031 s, approachRate: -0.507308 m/s, LOS rate: -0.086368 deg/s, posRepo size: 4
2021-08-14T01:17:38.667Z,1628903858.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.920002 m,
      bearing: 84.522751 deg,
      approachRate: -0.507308 m/s,
      LOS rate: -0.086368 deg/s,
      cmd update: -0.259104 deg/s,
      cmd heading: 316.216567 deg,
      new cmd heading: 317.557213 deg.

2021-08-14T01:17:41.105Z,1628903861.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:41.442Z,1628903861.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:17:41.442Z,1628903861.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:17:41.442Z,1628903861.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:17:41.443Z,1628903861.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:17:41.838Z,1628903861.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C92,000,00615,188,80,80,AC,FF
2021-08-14T01:17:41.839Z,1628903861.839 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:17:41.839Z,1628903861.839 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:17:41.858Z,1628903861.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:17:42.245Z,1628903862.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:17:42.649Z,1628903862.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B74,000,005F7,18A,80,80,92,FF
2021-08-14T01:17:42.650Z,1628903862.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:17:43.077Z,1628903863.077 [Micromodem](INFO): Nmea in: $SNTTA,,0.051062,,,011742.91*49

2021-08-14T01:17:43.124Z,1628903863.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.120003 m, bearing: 82.881006 deg, deltaT: 4.431627 s, approachRate: -0.406171 m/s, LOS rate: -0.370461 deg/s, posRepo size: 4
2021-08-14T01:17:43.126Z,1628903863.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.120003 m,
      bearing: 82.881006 deg,
      approachRate: -0.406171 m/s,
      LOS rate: -0.370461 deg/s,
      cmd update: -1.111383 deg/s,
      cmd heading: 315.068316 deg,
      new cmd heading: 314.951972 deg.

2021-08-14T01:17:45.492Z,1628903865.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:45.906Z,1628903865.906 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:17:45.906Z,1628903865.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:17:45.906Z,1628903865.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:17:45.907Z,1628903865.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:17:46.281Z,1628903866.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B74,000,005F7,18A,80,80,92,FF
2021-08-14T01:17:46.281Z,1628903866.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:17:46.281Z,1628903866.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:17:46.283Z,1628903866.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:17:46.695Z,1628903866.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:17:47.093Z,1628903867.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4B,000,005E9,189,80,80,76,FF
2021-08-14T01:17:47.094Z,1628903867.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:17:47.525Z,1628903867.525 [Micromodem](INFO): Nmea in: $SNTTA,0.060135,,,,011747.34*42

2021-08-14T01:17:47.579Z,1628903867.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.280003 m, bearing: 43.109323 deg, deltaT: 4.423265 s, approachRate: -0.189905 m/s, LOS rate: -8.991476 deg/s, posRepo size: 4
2021-08-14T01:17:47.585Z,1628903867.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.280003 m,
      bearing: 43.109323 deg,
      approachRate: -0.189905 m/s,
      LOS rate: -8.991476 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 310.121217 deg,
      new cmd heading: 309.613592 deg.

2021-08-14T01:17:50.035Z,1628903870.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:50.331Z,1628903870.331 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:17:50.331Z,1628903870.331 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:17:50.331Z,1628903870.331 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:17:50.332Z,1628903870.332 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:17:50.725Z,1628903870.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4B,000,005E9,189,80,80,76,FF
2021-08-14T01:17:50.725Z,1628903870.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:17:50.725Z,1628903870.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:17:50.727Z,1628903870.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:17:51.148Z,1628903871.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:17:51.549Z,1628903871.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,005E7,189,80,80,54,FF
2021-08-14T01:17:51.549Z,1628903871.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:17:51.981Z,1628903871.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011751.79*53

2021-08-14T01:17:52.049Z,1628903872.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.159996 m, bearing: 56.591515 deg, deltaT: 4.472603 s, approachRate: -0.026831 m/s, LOS rate: 3.014395 deg/s, posRepo size: 4
2021-08-14T01:17:52.051Z,1628903872.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.159996 m,
      bearing: 56.591515 deg,
      approachRate: -0.026831 m/s,
      LOS rate: 3.014395 deg/s,
      cmd update: 9.043186 deg/s,
      cmd heading: 256.499804 deg,
      new cmd heading: 250.999003 deg.

2021-08-14T01:17:54.406Z,1628903874.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:54.791Z,1628903874.791 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:17:54.791Z,1628903874.791 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:17:54.791Z,1628903874.791 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:17:54.793Z,1628903874.793 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:17:55.167Z,1628903875.167 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,005E7,189,80,80,54,FF
2021-08-14T01:17:55.167Z,1628903875.167 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:17:55.167Z,1628903875.167 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:17:55.169Z,1628903875.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:17:55.593Z,1628903875.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:17:56.005Z,1628903876.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD1,000,005F4,189,80,80,3C,FF
2021-08-14T01:17:56.005Z,1628903876.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:17:56.009Z,1628903876.009 [Micromodem](INFO): Nmea in: $SNTTA,0.059483,0.289725,,,011756.23*5B

2021-08-14T01:17:56.443Z,1628903876.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 15.616990 deg, deltaT: 4.504883 s, approachRate: 0.173145 m/s, LOS rate: -9.095580 deg/s, posRepo size: 4
2021-08-14T01:17:56.446Z,1628903876.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.939995 m,
      bearing: 15.616990 deg,
      approachRate: 0.173145 m/s,
      LOS rate: -9.095580 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 297.239247 deg,
      new cmd heading: 300.385516 deg.

2021-08-14T01:17:58.857Z,1628903878.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:17:59.213Z,1628903879.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:17:59.213Z,1628903879.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:17:59.213Z,1628903879.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:17:59.214Z,1628903879.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:17:59.617Z,1628903879.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD1,000,005F4,189,80,80,3C,FF
2021-08-14T01:17:59.618Z,1628903879.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:17:59.618Z,1628903879.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:17:59.619Z,1628903879.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:18:00.021Z,1628903880.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:18:00.469Z,1628903880.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,0061C,189,80,80,67,FF
2021-08-14T01:18:00.469Z,1628903880.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:18:00.857Z,1628903880.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011800.68*58

2021-08-14T01:18:00.907Z,1628903880.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.340000 m, bearing: 290.673344 deg, deltaT: 4.391764 s, approachRate: 0.546479 m/s, LOS rate: -19.341576 deg/s, posRepo size: 4
2021-08-14T01:18:00.912Z,1628903880.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.341576 deg/s. Setting heading cmd to target bearing of 290.673344deg and heading rate command to 0 deg/s.
2021-08-14T01:18:03.270Z,1628903883.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:18:03.673Z,1628903883.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:18:03.673Z,1628903883.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:18:03.673Z,1628903883.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:18:03.674Z,1628903883.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:18:04.066Z,1628903884.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
246,000,0061C,189,80,80,67,FF
2021-08-14T01:18:04.066Z,1628903884.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:18:04.066Z,1628903884.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:18:04.068Z,1628903884.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:18:04.477Z,1628903884.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:18:04.865Z,1628903884.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,0063C,187,80,80,78,FF
2021-08-14T01:18:04.865Z,1628903884.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:18:05.313Z,1628903885.313 [Micromodem](INFO): Nmea in: $SNTTA,0.051386,,,,011805.12*47

2021-08-14T01:18:05.357Z,1628903885.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 296.108863 deg, deltaT: 4.402175 s, approachRate: 0.436149 m/s, LOS rate: 1.234735 deg/s, posRepo size: 4
2021-08-14T01:18:05.361Z,1628903885.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.260006 m,
      bearing: 296.108863 deg,
      approachRate: 0.436149 m/s,
      LOS rate: 1.234735 deg/s,
      cmd update: 3.704205 deg/s,
      cmd heading: 290.673344 deg,
      new cmd heading: 290.673344 deg.

2021-08-14T01:18:07.772Z,1628903887.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:18:08.097Z,1628903888.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:18:08.097Z,1628903888.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:18:08.097Z,1628903888.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:18:08.098Z,1628903888.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:18:08.511Z,1628903888.511 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,0063C,187,80,80,78,FF
2021-08-14T01:18:08.512Z,1628903888.512 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:18:08.512Z,1628903888.512 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:18:08.514Z,1628903888.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:18:08.921Z,1628903888.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:18:09.318Z,1628903889.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D46,000,0066F,189,80,80,3F,FF
2021-08-14T01:18:09.318Z,1628903889.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:18:09.772Z,1628903889.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011809.57*5D

2021-08-14T01:18:09.810Z,1628903889.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.320004 m, bearing: 325.831251 deg, deltaT: 4.493198 s, approachRate: 0.681029 m/s, LOS rate: 6.614974 deg/s, posRepo size: 4
2021-08-14T01:18:09.813Z,1628903889.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.320004 m,
      bearing: 325.831251 deg,
      approachRate: 0.681029 m/s,
      LOS rate: 6.614974 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 307.303507 deg,
      new cmd heading: 308.888507 deg.

2021-08-14T01:18:10.965Z,1628903890.965 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T01:18:12.206Z,1628903892.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:18:12.541Z,1628903892.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:18:12.541Z,1628903892.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:18:12.541Z,1628903892.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:18:12.542Z,1628903892.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:18:12.953Z,1628903892.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D46,000,0066F,189,80,80,3F,FF
2021-08-14T01:18:12.953Z,1628903892.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:18:12.953Z,1628903892.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:18:12.955Z,1628903892.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:18:13.362Z,1628903893.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:18:13.777Z,1628903893.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,120,000,0069D,186,80,80,86,FF
2021-08-14T01:18:13.778Z,1628903893.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:18:14.214Z,1628903894.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011814.01*52

2021-08-14T01:18:14.276Z,1628903894.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.080009 m, bearing: 284.824216 deg, deltaT: 4.482675 s, approachRate: 0.615705 m/s, LOS rate: -9.147893 deg/s, posRepo size: 4
2021-08-14T01:18:14.278Z,1628903894.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.080009 m,
      bearing: 284.824216 deg,
      approachRate: 0.615705 m/s,
      LOS rate: -9.147893 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 0.753716 deg,
      new cmd heading: 6.026864 deg.

2021-08-14T01:18:16.613Z,1628903896.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:18:16.985Z,1628903896.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:18:16.985Z,1628903896.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:18:16.985Z,1628903896.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:18:16.986Z,1628903896.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:18:17.397Z,1628903897.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
120,000,0069D,186,80,80,86,FF
2021-08-14T01:18:17.398Z,1628903897.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:18:17.398Z,1628903897.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:18:17.399Z,1628903897.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:18:17.827Z,1628903897.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:18:18.201Z,1628903898.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8C,000,006C2,186,80,80,A2,FF
2021-08-14T01:18:18.201Z,1628903898.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:18:18.645Z,1628903898.645 [Micromodem](INFO): Nmea in: $SNTTA,0.056726,,,,011818.46*43

2021-08-14T01:18:18.675Z,1628903898.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.300003 m, bearing: 333.478495 deg, deltaT: 4.435152 s, approachRate: 0.500545 m/s, LOS rate: 10.970150 deg/s, posRepo size: 4
2021-08-14T01:18:18.677Z,1628903898.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.300003 m,
      bearing: 333.478495 deg,
      approachRate: 0.500545 m/s,
      LOS rate: 10.970150 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 307.219963 deg,
      new cmd heading: 302.696419 deg.

2021-08-14T01:18:21.069Z,1628903901.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:18:21.429Z,1628903901.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:18:21.429Z,1628903901.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:18:21.429Z,1628903901.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:18:21.430Z,1628903901.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:18:21.833Z,1628903901.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8C,000,006C2,186,80,80,A2,FF
2021-08-14T01:18:21.833Z,1628903901.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:18:21.833Z,1628903901.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:18:21.835Z,1628903901.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:18:22.241Z,1628903902.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:18:22.645Z,1628903902.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E11,000,006E6,186,80,80,5D,FF
2021-08-14T01:18:22.646Z,1628903902.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:18:23.081Z,1628903903.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011822.90*5F

2021-08-14T01:18:23.121Z,1628903903.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.459999 m, bearing: 354.783439 deg, deltaT: 4.358207 s, approachRate: 0.495616 m/s, LOS rate: 4.888465 deg/s, posRepo size: 4
2021-08-14T01:18:23.123Z,1628903903.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.459999 m,
      bearing: 354.783439 deg,
      approachRate: 0.495616 m/s,
      LOS rate: 4.888465 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 359.596808 deg,
      new cmd heading: 5.097380 deg.

2021-08-14T01:18:25.495Z,1628903905.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:18:25.905Z,1628903905.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:18:25.905Z,1628903905.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:18:25.906Z,1628903905.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:18:25.906Z,1628903905.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:18:26.281Z,1628903906.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E11,000,006E6,186,80,80,5D,FF
2021-08-14T01:18:26.281Z,1628903906.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:18:26.281Z,1628903906.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:18:26.283Z,1628903906.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:18:26.685Z,1628903906.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:18:27.085Z,1628903907.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D59,000,00707,18A,80,80,89,FF
2021-08-14T01:18:27.086Z,1628903907.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:18:27.535Z,1628903907.535 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011827.34*54

2021-08-14T01:18:27.555Z,1628903907.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.440002 m, bearing: 6.180511 deg, deltaT: 4.482297 s, approachRate: 0.441739 m/s, LOS rate: 2.542683 deg/s, posRepo size: 4
2021-08-14T01:18:27.558Z,1628903907.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.440002 m,
      bearing: 6.180511 deg,
      approachRate: 0.441739 m/s,
      LOS rate: 2.542683 deg/s,
      cmd update: 7.628051 deg/s,
      cmd heading: 53.333686 deg,
      new cmd heading: 58.310434 deg.

2021-08-14T01:18:30.026Z,1628903910.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:18:30.325Z,1628903910.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:18:30.325Z,1628903910.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:18:30.325Z,1628903910.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:18:30.326Z,1628903910.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:18:30.729Z,1628903910.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D59,000,00707,18A,80,80,89,FF
2021-08-14T01:18:30.729Z,1628903910.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:18:30.729Z,1628903910.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:18:30.731Z,1628903910.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:18:31.141Z,1628903911.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:18:31.533Z,1628903911.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,00497,186,80,80,7E,FF
2021-08-14T01:18:31.534Z,1628903911.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:18:31.981Z,1628903911.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011831.79*5A

2021-08-14T01:18:32.049Z,1628903912.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 0.192079 deg, deltaT: 4.441994 s, approachRate: -8.428649 m/s, LOS rate: -1.348140 deg/s, posRepo size: 4
2021-08-14T01:18:32.050Z,1628903912.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.00 m.
2021-08-14T01:18:32.050Z,1628903912.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.00 m.
2021-08-14T01:18:32.050Z,1628903912.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T01:18:32.053Z,1628903912.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.999996 m,
      bearing: 0.192079 deg,
      approachRate: -8.428649 m/s,
      LOS rate: -1.348140 deg/s,
      cmd update: -4.044421 deg/s,
      cmd heading: 87.217610 deg,
      new cmd heading: 90.777751 deg.

2021-08-14T01:18:32.402Z,1628903912.402 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:18:32.403Z,1628903912.403 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:18:32.403Z,1628903912.403 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:18:32.404Z,1628903912.404 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:18:32.404Z,1628903912.404 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:18:32.404Z,1628903912.404 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:18:32.807Z,1628903912.807 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:18:32.807Z,1628903912.807 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:18:32.807Z,1628903912.807 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:18:32.807Z,1628903912.807 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:18:34.398Z,1628903914.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:18:34.784Z,1628903914.784 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:18:34.785Z,1628903914.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:18:34.785Z,1628903914.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:18:34.786Z,1628903914.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:18:35.169Z,1628903915.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,00497,186,80,80,7E,FF
2021-08-14T01:18:35.169Z,1628903915.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:18:35.169Z,1628903915.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:18:35.171Z,1628903915.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:18:35.585Z,1628903915.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:18:35.973Z,1628903915.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,0073C,186,80,80,8F,FF
2021-08-14T01:18:35.973Z,1628903915.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:18:36.071Z,1628903916.071 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:18:36.410Z,1628903916.410 [Micromodem](INFO): Nmea in: $SNTTA,0.088899,,,,011836.23*44

2021-08-14T01:18:36.431Z,1628903916.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.620003 m, bearing: 14.949271 deg, deltaT: 4.485967 s, approachRate: 9.054905 m/s, LOS rate: 3.289635 deg/s, posRepo size: 4
2021-08-14T01:18:36.433Z,1628903916.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.620003 m,
      bearing: 14.949271 deg,
      approachRate: 9.054905 m/s,
      LOS rate: 3.289635 deg/s,
      cmd update: 9.868904 deg/s,
      cmd heading: 69.092346 deg,
      new cmd heading: 67.610409 deg.

2021-08-14T01:18:36.853Z,1628903916.853 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:18:36.853Z,1628903916.853 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:18:36.853Z,1628903916.853 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:18:36.853Z,1628903916.853 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:18:36.854Z,1628903916.854 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:18:36.854Z,1628903916.854 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:18:37.221Z,1628903917.221 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:18:37.221Z,1628903917.221 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:18:37.222Z,1628903917.222 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:18:37.222Z,1628903917.222 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:18:38.853Z,1628903918.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:18:39.205Z,1628903919.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:18:39.205Z,1628903919.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:18:39.205Z,1628903919.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:18:39.206Z,1628903919.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:18:39.609Z,1628903919.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,0073C,186,80,80,8F,FF
2021-08-14T01:18:39.609Z,1628903919.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:18:39.610Z,1628903919.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:18:39.611Z,1628903919.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:18:40.013Z,1628903920.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:18:40.446Z,1628903920.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB5,000,00741,189,80,80,A1,FF
2021-08-14T01:18:40.447Z,1628903920.447 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:18:40.861Z,1628903920.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011840.67*53

2021-08-14T01:18:40.888Z,1628903920.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.920006 m, bearing: 50.616681 deg, deltaT: 4.419234 s, approachRate: 0.067886 m/s, LOS rate: 8.070949 deg/s, posRepo size: 4
2021-08-14T01:18:40.890Z,1628903920.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.920006 m,
      bearing: 50.616681 deg,
      approachRate: 0.067886 m/s,
      LOS rate: 8.070949 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 112.746142 deg,
      new cmd heading: 116.694908 deg.

2021-08-14T01:18:43.263Z,1628903923.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:18:43.657Z,1628903923.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:18:43.657Z,1628903923.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:18:43.657Z,1628903923.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:18:43.658Z,1628903923.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:18:44.061Z,1628903924.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB5,000,00741,189,80,80,A1,FF
2021-08-14T01:18:44.061Z,1628903924.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:18:44.061Z,1628903924.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:18:44.063Z,1628903924.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:18:44.460Z,1628903924.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:18:44.869Z,1628903924.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B14,000,0073F,189,80,80,AC,FF
2021-08-14T01:18:44.870Z,1628903924.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:18:45.302Z,1628903925.302 [Micromodem](INFO): Nmea in: $SNTTA,0.057858,,,,011845.12*4D

2021-08-14T01:18:45.323Z,1628903925.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.799995 m, bearing: 103.259613 deg, deltaT: 4.441663 s, approachRate: -0.027019 m/s, LOS rate: 11.852077 deg/s, posRepo size: 4
2021-08-14T01:18:45.324Z,1628903925.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.852077 deg/s. Setting heading cmd to target bearing of 103.259613deg and heading rate command to 0 deg/s.
2021-08-14T01:18:47.754Z,1628903927.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:18:48.105Z,1628903928.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:18:48.105Z,1628903928.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:18:48.105Z,1628903928.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:18:48.106Z,1628903928.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:18:48.497Z,1628903928.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B14,000,0073F,189,80,80,AC,FF
2021-08-14T01:18:48.497Z,1628903928.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:18:48.497Z,1628903928.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:18:48.499Z,1628903928.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:18:48.913Z,1628903928.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:18:49.305Z,1628903929.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B83,000,0072B,18A,80,80,B8,FF
2021-08-14T01:18:49.306Z,1628903929.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:18:49.773Z,1628903929.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011849.56*58

2021-08-14T01:18:49.812Z,1628903929.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.599998 m, bearing: 115.420225 deg, deltaT: 4.446308 s, approachRate: -0.269886 m/s, LOS rate: 2.734991 deg/s, posRepo size: 4
2021-08-14T01:18:49.814Z,1628903929.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.599998 m,
      bearing: 115.420225 deg,
      approachRate: -0.269886 m/s,
      LOS rate: 2.734991 deg/s,
      cmd update: 8.204973 deg/s,
      cmd heading: 103.259613 deg,
      new cmd heading: 103.259613 deg.

2021-08-14T01:18:52.214Z,1628903932.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:18:52.537Z,1628903932.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:18:52.537Z,1628903932.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:18:52.537Z,1628903932.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:18:52.538Z,1628903932.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:18:52.945Z,1628903932.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B83,000,0072B,18A,80,80,B8,FF
2021-08-14T01:18:52.945Z,1628903932.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:18:52.945Z,1628903932.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:18:52.947Z,1628903932.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:18:53.359Z,1628903933.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:18:53.774Z,1628903933.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8E,000,00719,189,80,80,88,FF
2021-08-14T01:18:53.775Z,1628903933.775 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:18:54.193Z,1628903934.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011854.01*56

2021-08-14T01:18:54.261Z,1628903934.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.519997 m, bearing: 105.551558 deg, deltaT: 4.446629 s, approachRate: -0.242881 m/s, LOS rate: -2.219359 deg/s, posRepo size: 4
2021-08-14T01:18:54.263Z,1628903934.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.519997 m,
      bearing: 105.551558 deg,
      approachRate: -0.242881 m/s,
      LOS rate: -2.219359 deg/s,
      cmd update: -6.658078 deg/s,
      cmd heading: 139.661000 deg,
      new cmd heading: 143.384704 deg.

2021-08-14T01:18:56.607Z,1628903936.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:18:56.986Z,1628903936.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:18:56.987Z,1628903936.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:18:56.987Z,1628903936.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:18:56.988Z,1628903936.988 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:18:57.409Z,1628903937.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8E,000,00719,189,80,80,88,FF
2021-08-14T01:18:57.409Z,1628903937.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:18:57.409Z,1628903937.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:18:57.411Z,1628903937.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:18:57.829Z,1628903937.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:18:58.205Z,1628903938.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D98,000,006F1,189,80,80,8C,FF
2021-08-14T01:18:58.205Z,1628903938.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:18:58.625Z,1628903938.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011858.47*58

2021-08-14T01:18:58.660Z,1628903938.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.120003 m, bearing: 124.917207 deg, deltaT: 4.448411 s, approachRate: -0.539517 m/s, LOS rate: 4.353386 deg/s, posRepo size: 4
2021-08-14T01:18:58.662Z,1628903938.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.120003 m,
      bearing: 124.917207 deg,
      approachRate: -0.539517 m/s,
      LOS rate: 4.353386 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 109.909373 deg,
      new cmd heading: 107.428726 deg.

2021-08-14T01:19:01.077Z,1628903941.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:01.449Z,1628903941.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:19:01.449Z,1628903941.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:19:01.449Z,1628903941.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:19:01.450Z,1628903941.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:19:01.834Z,1628903941.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D98,000,006F1,189,80,80,8C,FF
2021-08-14T01:19:01.834Z,1628903941.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:19:01.834Z,1628903941.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:19:01.837Z,1628903941.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:19:02.262Z,1628903942.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:19:02.637Z,1628903942.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,006C1,186,80,80,8C,FF
2021-08-14T01:19:02.637Z,1628903942.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:19:03.082Z,1628903943.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011902.90*5C

2021-08-14T01:19:03.122Z,1628903943.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.239998 m, bearing: 121.294338 deg, deltaT: 4.379611 s, approachRate: -0.657594 m/s, LOS rate: -0.827212 deg/s, posRepo size: 4
2021-08-14T01:19:03.124Z,1628903943.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.239998 m,
      bearing: 121.294338 deg,
      approachRate: -0.657594 m/s,
      LOS rate: -0.827212 deg/s,
      cmd update: -2.481637 deg/s,
      cmd heading: 162.513007 deg,
      new cmd heading: 168.119311 deg.

2021-08-14T01:19:05.523Z,1628903945.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:05.905Z,1628903945.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:19:05.905Z,1628903945.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:19:05.905Z,1628903945.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:19:05.906Z,1628903945.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:19:06.279Z,1628903946.279 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,006C1,186,80,80,8C,FF
2021-08-14T01:19:06.280Z,1628903946.280 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:19:06.280Z,1628903946.280 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:19:06.282Z,1628903946.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:19:06.699Z,1628903946.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:19:07.090Z,1628903947.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,00697,182,80,80,B1,FF
2021-08-14T01:19:07.091Z,1628903947.091 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:19:07.523Z,1628903947.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.719997 m, bearing: 121.250065 deg, deltaT: 4.524031 s, approachRate: -0.557025 m/s, LOS rate: -0.009786 deg/s, posRepo size: 4
2021-08-14T01:19:07.526Z,1628903947.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.719997 m,
      bearing: 121.250065 deg,
      approachRate: -0.557025 m/s,
      LOS rate: -0.009786 deg/s,
      cmd update: -0.029359 deg/s,
      cmd heading: 151.303962 deg,
      new cmd heading: 150.430597 deg.

2021-08-14T01:19:10.017Z,1628903950.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:10.317Z,1628903950.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:19:10.317Z,1628903950.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:19:10.317Z,1628903950.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:19:10.318Z,1628903950.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:19:10.769Z,1628903950.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,00697,182,80,80,B1,FF
2021-08-14T01:19:10.769Z,1628903950.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:19:10.770Z,1628903950.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:19:10.776Z,1628903950.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:19:11.129Z,1628903951.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:19:11.535Z,1628903951.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,0066A,186,80,80,71,FF
2021-08-14T01:19:11.535Z,1628903951.535 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:19:11.986Z,1628903951.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011911.83*5C

2021-08-14T01:19:12.050Z,1628903952.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.019997 m, bearing: 118.646601 deg, deltaT: 4.374128 s, approachRate: -0.617266 m/s, LOS rate: -0.595196 deg/s, posRepo size: 4
2021-08-14T01:19:12.072Z,1628903952.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.019997 m,
      bearing: 118.646601 deg,
      approachRate: -0.617266 m/s,
      LOS rate: -0.595196 deg/s,
      cmd update: -1.785588 deg/s,
      cmd heading: 151.175337 deg,
      new cmd heading: 151.160722 deg.

2021-08-14T01:19:14.382Z,1628903954.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:14.773Z,1628903954.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:19:14.773Z,1628903954.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:19:14.773Z,1628903954.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:19:14.774Z,1628903954.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:19:15.169Z,1628903955.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,0066A,186,80,80,71,FF
2021-08-14T01:19:15.169Z,1628903955.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:19:15.169Z,1628903955.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:19:15.171Z,1628903955.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:19:15.573Z,1628903955.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:19:15.976Z,1628903955.976 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,0063B,189,80,80,9F,FF
2021-08-14T01:19:15.979Z,1628903955.979 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:19:16.413Z,1628903956.413 [Micromodem](INFO): Nmea in: $SNTTA,0.047231,,,,011916.23*4C

2021-08-14T01:19:16.449Z,1628903956.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.200001 m, bearing: 116.787560 deg, deltaT: 4.551540 s, approachRate: -0.619570 m/s, LOS rate: -0.408442 deg/s, posRepo size: 4
2021-08-14T01:19:16.451Z,1628903956.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.200001 m,
      bearing: 116.787560 deg,
      approachRate: -0.619570 m/s,
      LOS rate: -0.408442 deg/s,
      cmd update: -1.225327 deg/s,
      cmd heading: 143.054924 deg,
      new cmd heading: 142.432382 deg.

2021-08-14T01:19:18.870Z,1628903958.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:19.209Z,1628903959.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:19:19.209Z,1628903959.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:19:19.210Z,1628903959.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:19:19.210Z,1628903959.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:19:19.609Z,1628903959.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,0063B,189,80,80,9F,FF
2021-08-14T01:19:19.609Z,1628903959.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:19:19.609Z,1628903959.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:19:19.611Z,1628903959.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:19:20.025Z,1628903960.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:19:20.426Z,1628903960.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,213,000,00616,187,80,80,5F,FF
2021-08-14T01:19:20.426Z,1628903960.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:19:20.861Z,1628903960.861 [Micromodem](INFO): Nmea in: $SNTTA,0.043410,,,,011920.67*48

2021-08-14T01:19:20.935Z,1628903960.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.980003 m, bearing: 116.899152 deg, deltaT: 4.338790 s, approachRate: -0.511663 m/s, LOS rate: 0.025720 deg/s, posRepo size: 4
2021-08-14T01:19:20.942Z,1628903960.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.980003 m,
      bearing: 116.899152 deg,
      approachRate: -0.511663 m/s,
      LOS rate: 0.025720 deg/s,
      cmd update: 0.077159 deg/s,
      cmd heading: 137.733612 deg,
      new cmd heading: 137.132608 deg.

2021-08-14T01:19:23.275Z,1628903963.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:23.649Z,1628903963.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:19:23.649Z,1628903963.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:19:23.649Z,1628903963.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:19:23.650Z,1628903963.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:19:24.053Z,1628903964.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
213,000,00616,187,80,80,5F,FF
2021-08-14T01:19:24.053Z,1628903964.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:19:24.053Z,1628903964.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:19:24.055Z,1628903964.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:19:24.469Z,1628903964.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:19:24.865Z,1628903964.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,005E9,186,80,80,AC,FF
2021-08-14T01:19:24.865Z,1628903964.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:19:25.308Z,1628903965.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.280003 m, bearing: 118.766895 deg, deltaT: 4.474961 s, approachRate: -0.603357 m/s, LOS rate: 0.417376 deg/s, posRepo size: 4
2021-08-14T01:19:25.310Z,1628903965.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.280003 m,
      bearing: 118.766895 deg,
      approachRate: -0.603357 m/s,
      LOS rate: 0.417376 deg/s,
      cmd update: 1.252129 deg/s,
      cmd heading: 138.078899 deg,
      new cmd heading: 138.108973 deg.

2021-08-14T01:19:27.726Z,1628903967.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:28.101Z,1628903968.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:19:28.101Z,1628903968.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:19:28.101Z,1628903968.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:19:28.102Z,1628903968.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:19:28.501Z,1628903968.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,005E9,186,80,80,AC,FF
2021-08-14T01:19:28.501Z,1628903968.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:19:28.502Z,1628903968.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:19:28.503Z,1628903968.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:19:30.567Z,1628903970.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:31.333Z,1628903971.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-14T01:19:31.334Z,1628903971.334 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-14T01:19:31.334Z,1628903971.334 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:19:33.378Z,1628903973.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:33.772Z,1628903973.772 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:19:33.773Z,1628903973.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:19:33.773Z,1628903973.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:19:33.774Z,1628903973.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:19:34.161Z,1628903974.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AC,FF
2021-08-14T01:19:34.161Z,1628903974.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:19:34.161Z,1628903974.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:19:36.219Z,1628903976.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:36.982Z,1628903976.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-14T01:19:36.982Z,1628903976.982 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-14T01:19:36.982Z,1628903976.982 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:19:39.053Z,1628903979.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:39.421Z,1628903979.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:19:39.421Z,1628903979.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:19:39.421Z,1628903979.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:19:39.422Z,1628903979.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:19:39.824Z,1628903979.824 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AC,FF
2021-08-14T01:19:39.824Z,1628903979.824 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:19:39.824Z,1628903979.824 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:19:39.825Z,1628903979.825 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:19:41.934Z,1628903981.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:42.657Z,1628903982.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-14T01:19:42.657Z,1628903982.657 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-14T01:19:42.658Z,1628903982.658 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:19:44.719Z,1628903984.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:45.077Z,1628903985.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:19:45.077Z,1628903985.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:19:45.077Z,1628903985.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:19:45.078Z,1628903985.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:19:45.502Z,1628903985.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AC,FF
2021-08-14T01:19:45.503Z,1628903985.503 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:19:45.508Z,1628903985.508 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:19:47.534Z,1628903987.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:48.317Z,1628903988.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-14T01:19:48.317Z,1628903988.317 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-14T01:19:48.317Z,1628903988.317 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:19:50.361Z,1628903990.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:50.729Z,1628903990.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:19:50.729Z,1628903990.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:19:50.729Z,1628903990.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:19:50.730Z,1628903990.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:19:51.137Z,1628903991.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AC,FF
2021-08-14T01:19:51.137Z,1628903991.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:19:51.137Z,1628903991.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:19:51.138Z,1628903991.138 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:19:51.542Z,1628903991.542 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-14T01:19:51.542Z,1628903991.542 [Micromodem] Hardware Fault, FailCount= 1
2021-08-14T01:19:51.542Z,1628903991.542 [Micromodem](ERROR): Hardware Fault
2021-08-14T01:19:51.559Z,1628903991.559 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T01:19:51.559Z,1628903991.559 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T01:19:51.559Z,1628903991.559 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T01:19:51.559Z,1628903991.559 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T01:19:51.560Z,1628903991.560 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T01:19:51.628Z,1628903991.628 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-14T01:19:51.998Z,1628903991.998 [Micromodem](INFO): Powering down
2021-08-14T01:19:52.397Z,1628903992.397 [Micromodem](FAULT): LCB 1 fault:  Software Overcurrent.
2021-08-14T01:19:52.867Z,1628903992.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:52.964Z,1628903992.964 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-14T01:19:52.964Z,1628903992.964 [Micromodem] No Fault, FailCount= 1
2021-08-14T01:19:54.009Z,1628903994.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,08182,189,80,80,7F,FF
2021-08-14T01:19:54.009Z,1628903994.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:19:54.443Z,1628903994.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1951.739990 m, bearing: 102.859425 deg, deltaT: 29.107736 s, approachRate: 65.221832 m/s, LOS rate: -0.546503 deg/s, posRepo size: 4
2021-08-14T01:19:54.446Z,1628903994.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1951.739990 m,
      bearing: 102.859425 deg,
      approachRate: 65.221832 m/s,
      LOS rate: -0.546503 deg/s,
      cmd update: -1.639510 deg/s,
      cmd heading: 174.525530 deg,
      new cmd heading: 175.048280 deg.

2021-08-14T01:19:55.640Z,1628903995.640 [Micromodem](INFO): Powering up
2021-08-14T01:19:55.641Z,1628903995.641 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-14T01:19:56.886Z,1628903996.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:19:57.241Z,1628903997.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:19:57.241Z,1628903997.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:19:57.241Z,1628903997.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:19:57.242Z,1628903997.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:19:57.651Z,1628903997.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,08182,189,80,80,7F,FF
2021-08-14T01:19:57.651Z,1628903997.651 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:19:57.651Z,1628903997.651 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:19:59.678Z,1628903999.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,04E6D,188,80,80,86,FF
2021-08-14T01:19:59.679Z,1628903999.679 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:20:00.281Z,1628904000.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1167.120117 m, bearing: 204.117102 deg, deltaT: 5.725275 s, approachRate: -137.044922 m/s, LOS rate: 17.686082 deg/s, posRepo size: 4
2021-08-14T01:20:00.282Z,1628904000.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.686082 deg/s. Setting heading cmd to target bearing of 204.117102deg and heading rate command to 0 deg/s.
2021-08-14T01:20:02.510Z,1628904002.510 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:20:02.516Z,1628904002.516 [PowerOnly](INFO): Powering down loadControl
2021-08-14T01:20:02.523Z,1628904002.523 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-14T01:20:02.523Z,1628904002.523 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T01:20:02.523Z,1628904002.523 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T01:20:02.588Z,1628904002.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:02.669Z,1628904002.669 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T01:20:02.893Z,1628904002.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:20:02.893Z,1628904002.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:20:02.893Z,1628904002.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:20:02.894Z,1628904002.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:20:02.976Z,1628904002.976 [RDI_Pathfinder](INFO): Powering down
2021-08-14T01:20:03.305Z,1628904003.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,04E6D,188,80,80,86,FF
2021-08-14T01:20:03.305Z,1628904003.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:20:03.305Z,1628904003.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:20:03.848Z,1628904003.848 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T01:20:03.848Z,1628904003.848 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T01:20:05.322Z,1628904005.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,05081,189,80,80,4D,FF
2021-08-14T01:20:05.322Z,1628904005.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:20:05.823Z,1628904005.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1199.040039 m, bearing: 200.673485 deg, deltaT: 5.595800 s, approachRate: 5.704264 m/s, LOS rate: -0.615393 deg/s, posRepo size: 4
2021-08-14T01:20:05.825Z,1628904005.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1199.040039 m,
      bearing: 200.673485 deg,
      approachRate: 5.704264 m/s,
      LOS rate: -0.615393 deg/s,
      cmd update: -1.846180 deg/s,
      cmd heading: 204.117102 deg,
      new cmd heading: 204.117102 deg.

2021-08-14T01:20:07.781Z,1628904007.781 [Micromodem](INFO): Nmea in: $CATMG,2021-08-14T01:20:07.002211Z,RTC,RTC*58

2021-08-14T01:20:07.782Z,1628904007.782 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-14T01:20:07.002211Z,RTC,RTC*58

2021-08-14T01:20:08.186Z,1628904008.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:08.549Z,1628904008.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:20:08.549Z,1628904008.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:20:08.549Z,1628904008.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:20:08.550Z,1628904008.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:20:08.966Z,1628904008.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,05081,189,80,80,4D,FF
2021-08-14T01:20:08.966Z,1628904008.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:20:08.966Z,1628904008.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:20:11.201Z,1628904011.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:13.835Z,1628904013.835 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:20:13.965Z,1628904013.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:14.220Z,1628904014.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:20:14.232Z,1628904014.232 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-14T01:20:14.642Z,1628904014.642 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.091713
2021-08-14T01:20:14.644Z,1628904014.644 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-14T01:20:14.645Z,1628904014.645 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-14T01:20:15.021Z,1628904015.021 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-14T01:20:15.022Z,1628904015.022 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-14T01:20:15.429Z,1628904015.429 [Micromodem](INFO): Nmea in: $SNTTA,0.026852,,,,012014.89*4C

2021-08-14T01:20:15.430Z,1628904015.430 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,0.026852,,,,012014.89*4C

2021-08-14T01:20:16.666Z,1628904016.666 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-14T01:20:16.667Z,1628904016.667 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-14T01:20:16.785Z,1628904016.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:17.042Z,1628904017.042 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:20:17.042Z,1628904017.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:20:17.042Z,1628904017.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:20:17.043Z,1628904017.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:20:17.066Z,1628904017.066 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-14T01:20:17.067Z,1628904017.067 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-14T01:20:17.445Z,1628904017.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,05081,189,80,80,4D,FF
2021-08-14T01:20:17.445Z,1628904017.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:20:17.445Z,1628904017.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:20:17.447Z,1628904017.447 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-14T01:20:17.447Z,1628904017.447 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-14T01:20:17.860Z,1628904017.860 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-14T01:20:17.861Z,1628904017.861 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-14T01:20:18.286Z,1628904018.286 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-14T01:20:18.286Z,1628904018.286 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-14T01:20:18.666Z,1628904018.666 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-14T01:20:18.668Z,1628904018.668 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,14,01,20,19*43

2021-08-14T01:20:19.074Z,1628904019.074 [Micromodem](INFO): Nmea in: $CACLK,2021,8,14,1,20,19*41

2021-08-14T01:20:19.077Z,1628904019.077 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-14T01:20:20Z*7B

2021-08-14T01:20:19.260Z,1628904019.260 [Micromodem](INFO): Outgoing frame #1, 60 bytes: CC101761190000005D00000400260000000000000000151D80030C5669C08C79986C18AF461B433D3E0F45E5A65DAC12CA965C757CEE643C42879C00
2021-08-14T01:20:19.261Z,1628904019.261 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:20:19.332Z,1628904019.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:19.333Z,1628904019.333 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T01:20:19.333Z,1628904019.333 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T01:20:19.333Z,1628904019.333 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T01:20:19.333Z,1628904019.333 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T01:20:19.333Z,1628904019.333 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T01:20:19.519Z,1628904019.519 [Micromodem](INFO): Nmea in: $CATMG,2021-08-14T01:20:20.028409Z,USER_CMD,RTC*1B

2021-08-14T01:20:19.519Z,1628904019.519 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-14T01:20:20.028409Z,USER_CMD,RTC*1B

2021-08-14T01:20:19.520Z,1628904019.520 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:20:19.958Z,1628904019.958 [Micromodem](INFO): Nmea in: $CADRQ,012020,1,10,0,64,1*77

2021-08-14T01:20:19.959Z,1628904019.959 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC101761190000005D00000400260000000000000000151D80030C5669C08C79986C18AF461B433D3E0F45E5A65DAC12CA965C757CEE643C42879C00*32

2021-08-14T01:20:20.367Z,1628904020.367 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T01:20:20.391Z,1628904020.391 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T01:20:22.006Z,1628904022.006 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T01:20:22.008Z,1628904022.008 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,012021.035915,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5F

2021-08-14T01:20:22.036Z,1628904022.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:23.188Z,1628904023.188 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.145230
2021-08-14T01:20:23.991Z,1628904023.991 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T01:20:23.996Z,1628904023.996 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814012023.876968,06,32767,45,0106,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,25.8,6.58,14,-3.58,-01,0.06,43,14500,4000*60

2021-08-14T01:20:24.856Z,1628904024.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:25.202Z,1628904025.202 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:20:25.202Z,1628904025.202 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:20:25.203Z,1628904025.203 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:20:25.208Z,1628904025.208 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:20:25.616Z,1628904025.616 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,05081,189,80,80,4D,FF
2021-08-14T01:20:25.616Z,1628904025.616 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:20:25.617Z,1628904025.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:20:25.618Z,1628904025.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:20:26.023Z,1628904026.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:20:26.429Z,1628904026.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004CC,189,80,80,89,FF
2021-08-14T01:20:26.429Z,1628904026.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:20:26.881Z,1628904026.881 [Micromodem](INFO): Nmea in: $SNTTA,0.040862,,,,012026.68*41

2021-08-14T01:20:26.917Z,1628904026.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.180000 m, bearing: 102.514849 deg, deltaT: 21.144068 s, approachRate: -54.996986 m/s, LOS rate: -4.642372 deg/s, posRepo size: 4
2021-08-14T01:20:26.919Z,1628904026.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.180000 m,
      bearing: 102.514849 deg,
      approachRate: -54.996986 m/s,
      LOS rate: -4.642372 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 165.083684 deg,
      new cmd heading: 164.289858 deg.

2021-08-14T01:20:27.261Z,1628904027.261 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:20:27.261Z,1628904027.261 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:20:27.262Z,1628904027.262 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:20:27.262Z,1628904027.262 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:20:27.262Z,1628904027.262 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:20:27.262Z,1628904027.262 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:20:27.674Z,1628904027.674 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:20:27.674Z,1628904027.674 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:20:27.674Z,1628904027.674 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:20:27.674Z,1628904027.674 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:20:29.281Z,1628904029.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:29.641Z,1628904029.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:20:29.641Z,1628904029.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:20:29.641Z,1628904029.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:20:29.642Z,1628904029.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:20:30.054Z,1628904030.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004CC,189,80,80,89,FF
2021-08-14T01:20:30.054Z,1628904030.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:20:30.055Z,1628904030.055 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:20:30.058Z,1628904030.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:20:30.460Z,1628904030.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:20:30.853Z,1628904030.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004CA,189,80,80,71,FF
2021-08-14T01:20:30.853Z,1628904030.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:20:30.959Z,1628904030.959 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:20:31.297Z,1628904031.297 [Micromodem](INFO): Nmea in: $SNTTA,0.047901,,,,012031.12*49

2021-08-14T01:20:31.339Z,1628904031.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.060001 m, bearing: 95.867053 deg, deltaT: 4.465371 s, approachRate: -0.026873 m/s, LOS rate: -1.488744 deg/s, posRepo size: 4
2021-08-14T01:20:31.342Z,1628904031.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.060001 m,
      bearing: 95.867053 deg,
      approachRate: -0.026873 m/s,
      LOS rate: -1.488744 deg/s,
      cmd update: -4.466233 deg/s,
      cmd heading: 111.597884 deg,
      new cmd heading: 106.859024 deg.

2021-08-14T01:20:33.698Z,1628904033.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:34.093Z,1628904034.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:20:34.093Z,1628904034.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:20:34.093Z,1628904034.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:20:34.094Z,1628904034.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:20:34.495Z,1628904034.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004CA,189,80,80,71,FF
2021-08-14T01:20:34.495Z,1628904034.495 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:20:34.495Z,1628904034.495 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:20:34.497Z,1628904034.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:20:34.893Z,1628904034.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:20:35.297Z,1628904035.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004BF,189,80,80,BB,FF
2021-08-14T01:20:35.298Z,1628904035.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:20:35.317Z,1628904035.317 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:20:35.763Z,1628904035.763 [Micromodem](INFO): Nmea in: $SNTTA,0.067195,,,,012035.56*4A

2021-08-14T01:20:35.846Z,1628904035.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.399998 m, bearing: 78.887326 deg, deltaT: 4.357534 s, approachRate: -0.151463 m/s, LOS rate: -3.896637 deg/s, posRepo size: 4
2021-08-14T01:20:35.852Z,1628904035.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.399998 m,
      bearing: 78.887326 deg,
      approachRate: -0.151463 m/s,
      LOS rate: -3.896637 deg/s,
      cmd update: -11.689911 deg/s,
      cmd heading: 92.082018 deg,
      new cmd heading: 89.704651 deg.

2021-08-14T01:20:38.228Z,1628904038.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:38.537Z,1628904038.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:20:38.538Z,1628904038.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:20:38.538Z,1628904038.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:20:38.539Z,1628904038.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:20:38.937Z,1628904038.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004BF,189,80,80,BB,FF
2021-08-14T01:20:38.937Z,1628904038.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:20:38.938Z,1628904038.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:20:38.939Z,1628904038.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:20:39.342Z,1628904039.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:20:39.737Z,1628904039.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,48D,000,004BE,189,80,80,A6,FF
2021-08-14T01:20:39.738Z,1628904039.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:20:39.830Z,1628904039.830 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:20:40.220Z,1628904040.220 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012040.00*59

2021-08-14T01:20:40.274Z,1628904040.274 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T01:20:40.287Z,1628904040.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.340000 m, bearing: 67.707460 deg, deltaT: 4.513500 s, approachRate: -0.013293 m/s, LOS rate: -2.476983 deg/s, posRepo size: 4
2021-08-14T01:20:40.289Z,1628904040.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.340000 m,
      bearing: 67.707460 deg,
      approachRate: -0.013293 m/s,
      LOS rate: -2.476983 deg/s,
      cmd update: -7.430950 deg/s,
      cmd heading: 39.452166 deg,
      new cmd heading: 33.944032 deg.

2021-08-14T01:20:42.610Z,1628904042.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:42.973Z,1628904042.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:20:42.973Z,1628904042.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:20:42.973Z,1628904042.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:20:42.974Z,1628904042.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:20:43.393Z,1628904043.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
48D,000,004BE,189,80,80,A6,FF
2021-08-14T01:20:43.393Z,1628904043.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:20:43.393Z,1628904043.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:20:43.395Z,1628904043.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:20:43.817Z,1628904043.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:20:44.222Z,1628904044.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,437,000,0049D,18A,80,80,A7,FF
2021-08-14T01:20:44.222Z,1628904044.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:20:44.234Z,1628904044.234 [Micromodem](INFO): Nmea in: $SNTTA,0.298485,0.300754,,,012044.45*53

2021-08-14T01:20:44.318Z,1628904044.318 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:20:44.632Z,1628904044.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.360001 m, bearing: 53.779120 deg, deltaT: 4.488108 s, approachRate: -0.441166 m/s, LOS rate: -3.103388 deg/s, posRepo size: 4
2021-08-14T01:20:44.634Z,1628904044.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.360001 m,
      bearing: 53.779120 deg,
      approachRate: -0.441166 m/s,
      LOS rate: -3.103388 deg/s,
      cmd update: -9.310164 deg/s,
      cmd heading: 6.048520 deg,
      new cmd heading: 3.665771 deg.

2021-08-14T01:20:47.041Z,1628904047.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:47.429Z,1628904047.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:20:47.429Z,1628904047.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:20:47.429Z,1628904047.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:20:47.430Z,1628904047.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:20:47.825Z,1628904047.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
437,000,0049D,18A,80,80,A7,FF
2021-08-14T01:20:47.825Z,1628904047.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:20:47.825Z,1628904047.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:20:47.827Z,1628904047.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:20:48.276Z,1628904048.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:20:48.639Z,1628904048.639 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D6,000,0047A,189,80,80,49,FF
2021-08-14T01:20:48.639Z,1628904048.639 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:20:48.658Z,1628904048.658 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:20:49.069Z,1628904049.069 [Micromodem](INFO): Nmea in: $SNTTA,0.047318,,,,012048.88*46

2021-08-14T01:20:49.098Z,1628904049.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.259998 m, bearing: 54.316345 deg, deltaT: 4.339742 s, approachRate: -0.483900 m/s, LOS rate: 0.123792 deg/s, posRepo size: 4
2021-08-14T01:20:49.125Z,1628904049.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.259998 m,
      bearing: 54.316345 deg,
      approachRate: -0.483900 m/s,
      LOS rate: 0.123792 deg/s,
      cmd update: 0.371376 deg/s,
      cmd heading: 325.606154 deg,
      new cmd heading: 321.477897 deg.

2021-08-14T01:20:50.289Z,1628904050.289 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T01:20:51.470Z,1628904051.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:51.861Z,1628904051.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:20:51.861Z,1628904051.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:20:51.862Z,1628904051.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:20:51.863Z,1628904051.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:20:52.273Z,1628904052.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D6,000,0047A,189,80,80,49,FF
2021-08-14T01:20:52.273Z,1628904052.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:20:52.273Z,1628904052.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:20:52.275Z,1628904052.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:20:52.681Z,1628904052.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:20:53.510Z,1628904053.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012053.33*5B

2021-08-14T01:20:54.326Z,1628904054.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:55.901Z,1628904055.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,092BD,186,80,80,96,FF
2021-08-14T01:20:55.901Z,1628904055.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:20:55.959Z,1628904055.959 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:20:56.376Z,1628904056.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2216.399902 m, bearing: 53.951941 deg, deltaT: 7.300950 s, approachRate: 299.295288 m/s, LOS rate: -0.049912 deg/s, posRepo size: 4
2021-08-14T01:20:56.379Z,1628904056.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2216.399902 m,
      bearing: 53.951941 deg,
      approachRate: 299.295288 m/s,
      LOS rate: -0.049912 deg/s,
      cmd update: -0.149736 deg/s,
      cmd heading: 328.316039 deg,
      new cmd heading: 328.473208 deg.

2021-08-14T01:20:56.791Z,1628904056.791 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:20:56.791Z,1628904056.791 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:20:56.791Z,1628904056.791 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:20:56.792Z,1628904056.792 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:20:56.792Z,1628904056.792 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:20:56.792Z,1628904056.792 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:20:57.157Z,1628904057.157 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:20:57.158Z,1628904057.158 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:20:57.158Z,1628904057.158 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:20:57.158Z,1628904057.158 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:20:57.945Z,1628904057.945 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:20:58.799Z,1628904058.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:20:59.141Z,1628904059.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:20:59.141Z,1628904059.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:20:59.141Z,1628904059.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:20:59.142Z,1628904059.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:20:59.537Z,1628904059.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,092BD,186,80,80,96,FF
2021-08-14T01:20:59.537Z,1628904059.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:20:59.537Z,1628904059.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:20:59.539Z,1628904059.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:20:59.938Z,1628904059.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:21:00.354Z,1628904060.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,003FB,186,80,80,A9,FF
2021-08-14T01:21:00.355Z,1628904060.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:21:00.801Z,1628904060.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012100.60*5A

2021-08-14T01:21:00.838Z,1628904060.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 55.636976 deg, deltaT: 4.473257 s, approachRate: -490.193176 m/s, LOS rate: 0.376691 deg/s, posRepo size: 4
2021-08-14T01:21:00.841Z,1628904060.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.639997 m,
      bearing: 55.636976 deg,
      approachRate: -490.193176 m/s,
      LOS rate: 0.376691 deg/s,
      cmd update: 1.130073 deg/s,
      cmd heading: 327.646759 deg,
      new cmd heading: 327.584341 deg.

2021-08-14T01:21:01.197Z,1628904061.197 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:21:01.197Z,1628904061.197 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:21:01.197Z,1628904061.197 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:21:01.198Z,1628904061.198 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:21:01.198Z,1628904061.198 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:21:01.198Z,1628904061.198 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:21:01.589Z,1628904061.589 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:21:01.589Z,1628904061.589 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:21:01.589Z,1628904061.589 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:21:01.589Z,1628904061.589 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:21:03.202Z,1628904063.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:21:03.577Z,1628904063.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:21:03.577Z,1628904063.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:21:03.577Z,1628904063.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:21:03.578Z,1628904063.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:21:03.983Z,1628904063.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,003FB,186,80,80,A9,FF
2021-08-14T01:21:03.983Z,1628904063.983 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:21:03.984Z,1628904063.984 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:21:03.986Z,1628904063.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:21:04.401Z,1628904064.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:21:05.218Z,1628904065.218 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012105.04*5D

2021-08-14T01:21:05.703Z,1628904065.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,036A9,18A,80,80,87,FF
2021-08-14T01:21:05.703Z,1628904065.703 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:21:05.800Z,1628904065.800 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:21:06.037Z,1628904066.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 802.080017 m, bearing: 60.245766 deg, deltaT: 5.368149 s, approachRate: 145.010880 m/s, LOS rate: 0.858544 deg/s, posRepo size: 4
2021-08-14T01:21:06.039Z,1628904066.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 802.080017 m,
      bearing: 60.245766 deg,
      approachRate: 145.010880 m/s,
      LOS rate: 0.858544 deg/s,
      cmd update: 2.575631 deg/s,
      cmd heading: 333.707971 deg,
      new cmd heading: 333.991932 deg.

2021-08-14T01:21:06.465Z,1628904066.465 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:21:06.465Z,1628904066.465 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:21:06.465Z,1628904066.466 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:21:06.466Z,1628904066.466 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:21:06.466Z,1628904066.466 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:21:06.466Z,1628904066.466 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:21:06.866Z,1628904066.866 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:21:06.866Z,1628904066.866 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:21:06.866Z,1628904066.866 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:21:06.866Z,1628904066.866 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:21:08.463Z,1628904068.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:21:08.838Z,1628904068.838 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:21:08.838Z,1628904068.838 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:21:08.838Z,1628904068.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:21:08.839Z,1628904068.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:21:09.234Z,1628904069.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,036A9,18A,80,80,87,FF
2021-08-14T01:21:09.234Z,1628904069.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:21:09.234Z,1628904069.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:21:09.235Z,1628904069.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:21:09.644Z,1628904069.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:21:10.046Z,1628904070.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B86,000,003A2,188,80,80,BE,FF
2021-08-14T01:21:10.046Z,1628904070.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:21:10.485Z,1628904070.485 [Micromodem](INFO): Nmea in: $SNTTA,0.037375,,,,012110.29*4D

2021-08-14T01:21:10.544Z,1628904070.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 65.229632 deg, deltaT: 4.275139 s, approachRate: -183.334396 m/s, LOS rate: 1.165779 deg/s, posRepo size: 4
2021-08-14T01:21:10.546Z,1628904070.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 65.229632 deg,
      approachRate: -183.334396 m/s,
      LOS rate: 1.165779 deg/s,
      cmd update: 3.497336 deg/s,
      cmd heading: 344.750243 deg,
      new cmd heading: 345.954520 deg.

2021-08-14T01:21:10.895Z,1628904070.895 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:21:10.895Z,1628904070.895 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:21:10.895Z,1628904070.895 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:21:10.896Z,1628904070.896 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:21:10.896Z,1628904070.896 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:21:10.896Z,1628904070.896 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:21:11.286Z,1628904071.286 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:21:11.286Z,1628904071.286 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:21:11.286Z,1628904071.286 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:21:11.286Z,1628904071.286 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:21:12.911Z,1628904072.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:21:13.273Z,1628904073.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:21:13.273Z,1628904073.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:21:13.273Z,1628904073.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:21:13.274Z,1628904073.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:21:13.685Z,1628904073.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B86,000,003A2,188,80,80,BE,FF
2021-08-14T01:21:13.685Z,1628904073.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:21:13.685Z,1628904073.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:21:13.687Z,1628904073.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:21:14.097Z,1628904074.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:21:14.493Z,1628904074.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0038E,189,80,80,88,FF
2021-08-14T01:21:14.494Z,1628904074.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:21:14.558Z,1628904074.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:21:14.925Z,1628904074.925 [Micromodem](INFO): Nmea in: $SNTTA,0.038623,,,,012114.75*49

2021-08-14T01:21:14.987Z,1628904074.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.100002 m, bearing: 55.289449 deg, deltaT: 4.482927 s, approachRate: -0.267682 m/s, LOS rate: -2.217342 deg/s, posRepo size: 4
2021-08-14T01:21:14.993Z,1628904074.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.100002 m,
      bearing: 55.289449 deg,
      approachRate: -0.267682 m/s,
      LOS rate: -2.217342 deg/s,
      cmd update: -6.652026 deg/s,
      cmd heading: 0.358916 deg,
      new cmd heading: 1.939691 deg.

2021-08-14T01:21:17.351Z,1628904077.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:21:17.726Z,1628904077.726 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:21:17.726Z,1628904077.726 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:21:17.726Z,1628904077.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:21:17.727Z,1628904077.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:21:18.129Z,1628904078.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0038E,189,80,80,88,FF
2021-08-14T01:21:18.129Z,1628904078.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:21:18.129Z,1628904078.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:21:18.131Z,1628904078.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:21:18.532Z,1628904078.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:21:18.937Z,1628904078.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA2,000,00389,189,80,80,83,FF
2021-08-14T01:21:18.938Z,1628904078.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:21:18.995Z,1628904078.995 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:21:19.378Z,1628904079.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012119.19*5C

2021-08-14T01:21:19.408Z,1628904079.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.800003 m, bearing: 20.335888 deg, deltaT: 4.436299 s, approachRate: -0.067624 m/s, LOS rate: -7.878991 deg/s, posRepo size: 4
2021-08-14T01:21:19.410Z,1628904079.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.800003 m,
      bearing: 20.335888 deg,
      approachRate: -0.067624 m/s,
      LOS rate: -7.878991 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 330.875220 deg,
      new cmd heading: 327.944337 deg.

2021-08-14T01:21:21.811Z,1628904081.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:21:22.173Z,1628904082.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:21:22.173Z,1628904082.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:21:22.174Z,1628904082.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:21:22.175Z,1628904082.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:21:22.565Z,1628904082.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA2,000,00389,189,80,80,83,FF
2021-08-14T01:21:22.565Z,1628904082.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:21:22.565Z,1628904082.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:21:22.567Z,1628904082.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:21:23.049Z,1628904083.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:21:23.437Z,1628904083.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,00B11,188,80,80,75,FF
2021-08-14T01:21:23.437Z,1628904083.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:21:23.499Z,1628904083.499 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:21:23.849Z,1628904083.849 [Micromodem](INFO): Nmea in: $SNTTA,0.043122,,,,012123.62*41

2021-08-14T01:21:23.874Z,1628904083.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.479996 m, bearing: 27.130357 deg, deltaT: 4.504174 s, approachRate: 25.682842 m/s, LOS rate: 1.508483 deg/s, posRepo size: 4
2021-08-14T01:21:23.901Z,1628904083.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.479996 m,
      bearing: 27.130357 deg,
      approachRate: 25.682842 m/s,
      LOS rate: 1.508483 deg/s,
      cmd update: 4.525449 deg/s,
      cmd heading: 276.536399 deg,
      new cmd heading: 271.994531 deg.

2021-08-14T01:21:24.321Z,1628904084.321 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:21:24.321Z,1628904084.321 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:21:24.322Z,1628904084.322 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:21:24.322Z,1628904084.322 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:21:24.322Z,1628904084.322 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:21:24.322Z,1628904084.322 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:21:24.677Z,1628904084.677 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:21:24.677Z,1628904084.677 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:21:24.677Z,1628904084.677 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:21:24.678Z,1628904084.678 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:21:26.324Z,1628904086.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:21:26.661Z,1628904086.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:21:26.661Z,1628904086.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:21:26.661Z,1628904086.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:21:26.662Z,1628904086.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:21:27.089Z,1628904087.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,00B11,188,80,80,75,FF
2021-08-14T01:21:27.089Z,1628904087.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:21:27.089Z,1628904087.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:21:27.091Z,1628904087.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:21:27.481Z,1628904087.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:21:27.889Z,1628904087.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCF,000,0039E,189,80,80,56,FF
2021-08-14T01:21:27.889Z,1628904087.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:21:28.309Z,1628904088.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012128.15*52

2021-08-14T01:21:28.372Z,1628904088.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 23.394245 deg, deltaT: 4.450118 s, approachRate: -25.711678 m/s, LOS rate: -0.839553 deg/s, posRepo size: 4
2021-08-14T01:21:28.375Z,1628904088.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.059998 m,
      bearing: 23.394245 deg,
      approachRate: -25.711678 m/s,
      LOS rate: -0.839553 deg/s,
      cmd update: -2.518660 deg/s,
      cmd heading: 296.631888 deg,
      new cmd heading: 298.598983 deg.

2021-08-14T01:21:28.736Z,1628904088.736 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:21:28.736Z,1628904088.736 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:21:28.736Z,1628904088.736 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:21:28.738Z,1628904088.738 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:21:28.739Z,1628904088.739 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:21:28.739Z,1628904088.739 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:21:29.139Z,1628904089.139 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:21:29.139Z,1628904089.139 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:21:29.139Z,1628904089.139 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:21:29.139Z,1628904089.139 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:21:30.754Z,1628904090.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:21:31.113Z,1628904091.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:21:31.113Z,1628904091.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:21:31.113Z,1628904091.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:21:31.114Z,1628904091.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:21:31.518Z,1628904091.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCF,000,0039E,189,80,80,56,FF
2021-08-14T01:21:31.518Z,1628904091.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:21:31.519Z,1628904091.519 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:21:31.520Z,1628904091.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:21:31.921Z,1628904091.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:21:32.321Z,1628904092.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,003B4,187,80,80,86,FF
2021-08-14T01:21:32.322Z,1628904092.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:21:32.407Z,1628904092.407 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:21:32.785Z,1628904092.785 [Micromodem](INFO): Nmea in: $SNTTA,0.059377,,,,012132.58*41

2021-08-14T01:21:32.813Z,1628904092.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 337.801294 deg, deltaT: 4.462678 s, approachRate: 0.295786 m/s, LOS rate: -10.216500 deg/s, posRepo size: 4
2021-08-14T01:21:32.815Z,1628904092.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.379997 m,
      bearing: 337.801294 deg,
      approachRate: 0.295786 m/s,
      LOS rate: -10.216500 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 285.390362 deg,
      new cmd heading: 284.349566 deg.

2021-08-14T01:21:35.178Z,1628904095.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:21:35.549Z,1628904095.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:21:35.549Z,1628904095.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:21:35.549Z,1628904095.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:21:35.550Z,1628904095.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:21:35.966Z,1628904095.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,003B4,187,80,80,86,FF
2021-08-14T01:21:35.966Z,1628904095.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:21:35.966Z,1628904095.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:21:35.968Z,1628904095.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:21:36.359Z,1628904096.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:21:36.793Z,1628904096.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BE8,000,003E6,189,80,80,8C,FF
2021-08-14T01:21:36.794Z,1628904096.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:21:36.896Z,1628904096.896 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:21:37.197Z,1628904097.197 [Micromodem](INFO): Nmea in: $SNTTA,0.071778,,,,012137.03*4B

2021-08-14T01:21:37.221Z,1628904097.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 0.613784 deg, deltaT: 4.484651 s, approachRate: 0.668948 m/s, LOS rate: 5.086794 deg/s, posRepo size: 4
2021-08-14T01:21:37.223Z,1628904097.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.379997 m,
      bearing: 0.613784 deg,
      approachRate: 0.668948 m/s,
      LOS rate: 5.086794 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 231.529789 deg,
      new cmd heading: 227.553349 deg.

2021-08-14T01:21:39.616Z,1628904099.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:21:39.997Z,1628904099.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:21:39.997Z,1628904099.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:21:39.997Z,1628904099.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:21:39.998Z,1628904099.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:21:40.405Z,1628904100.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BE8,000,003E6,189,80,80,8C,FF
2021-08-14T01:21:40.405Z,1628904100.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:21:40.405Z,1628904100.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:21:40.407Z,1628904100.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:21:40.819Z,1628904100.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:21:41.639Z,1628904101.639 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012141.47*5A

2021-08-14T01:21:42.497Z,1628904102.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:21:44.029Z,1628904104.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,8C,FF
2021-08-14T01:21:44.030Z,1628904104.030 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,8C,FF
2021-08-14T01:21:44.030Z,1628904104.030 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:21:45.266Z,1628904105.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:21:45.665Z,1628904105.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:21:45.665Z,1628904105.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:21:45.665Z,1628904105.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:21:45.666Z,1628904105.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:21:46.053Z,1628904106.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,8C,FF
2021-08-14T01:21:46.053Z,1628904106.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:21:46.053Z,1628904106.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:21:46.055Z,1628904106.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:21:46.469Z,1628904106.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:21:46.865Z,1628904106.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,0044E,186,80,80,7B,FF
2021-08-14T01:21:46.866Z,1628904106.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:21:46.928Z,1628904106.928 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:21:47.315Z,1628904107.315 [Micromodem](INFO): Nmea in: $SNTTA,,0.036540,,,012147.12*46

2021-08-14T01:21:47.377Z,1628904107.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.620001 m, bearing: 284.139530 deg, deltaT: 10.031835 s, approachRate: 0.622020 m/s, LOS rate: -7.623157 deg/s, posRepo size: 4
2021-08-14T01:21:47.379Z,1628904107.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.620001 m,
      bearing: 284.139530 deg,
      approachRate: 0.622020 m/s,
      LOS rate: -7.623157 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 351.874721 deg,
      new cmd heading: 357.345161 deg.

2021-08-14T01:21:49.722Z,1628904109.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:21:50.093Z,1628904110.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:21:50.093Z,1628904110.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:21:50.093Z,1628904110.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:21:50.094Z,1628904110.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:21:50.506Z,1628904110.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,0044E,186,80,80,7B,FF
2021-08-14T01:21:50.506Z,1628904110.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:21:50.506Z,1628904110.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:21:50.508Z,1628904110.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:21:51.001Z,1628904111.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:21:51.427Z,1628904111.427 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00483,186,80,80,6F,FF
2021-08-14T01:21:51.427Z,1628904111.427 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:21:51.483Z,1628904111.483 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:21:51.829Z,1628904111.829 [Micromodem](INFO): Nmea in: $SNTTA,0.050613,,,,012151.56*44

2021-08-14T01:21:51.854Z,1628904111.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.799999 m, bearing: 294.108246 deg, deltaT: 4.554376 s, approachRate: 0.698229 m/s, LOS rate: 2.188821 deg/s, posRepo size: 4
2021-08-14T01:21:51.855Z,1628904111.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 31.80 m. Rolling out.
2021-08-14T01:21:51.855Z,1628904111.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T01:21:54.334Z,1628904114.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:21:54.639Z,1628904114.639 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:21:54.639Z,1628904114.639 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:21:54.639Z,1628904114.639 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:21:54.641Z,1628904114.641 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:21:55.027Z,1628904115.027 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00483,186,80,80,6F,FF
2021-08-14T01:21:55.027Z,1628904115.027 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:21:55.027Z,1628904115.027 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:21:55.029Z,1628904115.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:21:55.443Z,1628904115.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:21:55.833Z,1628904115.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,004A8,187,80,80,3B,FF
2021-08-14T01:21:55.834Z,1628904115.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:21:55.866Z,1628904115.866 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:21:56.302Z,1628904116.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012156.09*56

2021-08-14T01:21:56.338Z,1628904116.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.020000 m, bearing: 314.375767 deg, deltaT: 4.383566 s, approachRate: 0.506437 m/s, LOS rate: 4.623524 deg/s, posRepo size: 4
2021-08-14T01:21:58.727Z,1628904118.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:21:59.078Z,1628904119.078 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:21:59.078Z,1628904119.078 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:21:59.078Z,1628904119.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:21:59.079Z,1628904119.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:21:59.469Z,1628904119.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,004A8,187,80,80,3B,FF
2021-08-14T01:21:59.469Z,1628904119.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:21:59.470Z,1628904119.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:21:59.472Z,1628904119.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:21:59.886Z,1628904119.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:22:00.281Z,1628904120.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAF,000,004DC,189,80,80,6C,FF
2021-08-14T01:22:00.282Z,1628904120.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:22:00.390Z,1628904120.390 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:22:00.748Z,1628904120.748 [Micromodem](INFO): Nmea in: $SNTTA,0.299982,,,,012200.53*46

2021-08-14T01:22:00.811Z,1628904120.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.139999 m, bearing: 336.616557 deg, deltaT: 4.523633 s, approachRate: 0.689711 m/s, LOS rate: 4.916577 deg/s, posRepo size: 4
2021-08-14T01:22:03.180Z,1628904123.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:22:03.517Z,1628904123.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:22:03.517Z,1628904123.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:22:03.517Z,1628904123.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:22:03.518Z,1628904123.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:22:03.917Z,1628904123.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAF,000,004DC,189,80,80,6C,FF
2021-08-14T01:22:03.917Z,1628904123.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:22:03.917Z,1628904123.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:22:03.919Z,1628904123.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:22:04.330Z,1628904124.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:22:04.750Z,1628904124.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECB,000,00509,186,80,80,83,FF
2021-08-14T01:22:04.752Z,1628904124.752 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:22:04.828Z,1628904124.828 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:22:05.167Z,1628904125.167 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012204.98*5A

2021-08-14T01:22:05.210Z,1628904125.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.840000 m, bearing: 320.630062 deg, deltaT: 4.438161 s, approachRate: 0.608360 m/s, LOS rate: -3.602054 deg/s, posRepo size: 4
2021-08-14T01:22:07.577Z,1628904127.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:22:07.956Z,1628904127.956 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:22:07.956Z,1628904127.956 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:22:07.956Z,1628904127.956 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:22:07.957Z,1628904127.957 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:22:08.359Z,1628904128.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECB,000,00509,186,80,80,83,FF
2021-08-14T01:22:08.359Z,1628904128.359 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:22:08.359Z,1628904128.359 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:22:08.362Z,1628904128.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:22:08.849Z,1628904128.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:22:09.265Z,1628904129.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,0053A,186,80,80,9D,FF
2021-08-14T01:22:09.266Z,1628904129.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:22:09.294Z,1628904129.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:22:09.657Z,1628904129.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012209.42*50

2021-08-14T01:22:09.689Z,1628904129.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.780003 m, bearing: 319.524883 deg, deltaT: 4.466307 s, approachRate: 0.658262 m/s, LOS rate: -0.247448 deg/s, posRepo size: 4
2021-08-14T01:22:10.106Z,1628904130.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:22:10.106Z,1628904130.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:22:10.106Z,1628904130.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:22:10.107Z,1628904130.107 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:22:10.107Z,1628904130.107 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:22:10.107Z,1628904130.107 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:22:10.528Z,1628904130.528 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:22:10.529Z,1628904130.529 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:22:10.529Z,1628904130.529 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:22:10.529Z,1628904130.529 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:22:12.109Z,1628904132.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:22:12.490Z,1628904132.490 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:22:12.490Z,1628904132.490 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:22:12.490Z,1628904132.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:22:12.491Z,1628904132.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:22:12.889Z,1628904132.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,0053A,186,80,80,9D,FF
2021-08-14T01:22:12.889Z,1628904132.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:22:12.889Z,1628904132.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:22:12.891Z,1628904132.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:22:13.295Z,1628904133.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:22:13.697Z,1628904133.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,0056C,186,80,80,92,FF
2021-08-14T01:22:13.698Z,1628904133.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:22:14.134Z,1628904134.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012213.95*51

2021-08-14T01:22:14.248Z,1628904134.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.780003 m, bearing: 318.759055 deg, deltaT: 4.426716 s, approachRate: 0.677703 m/s, LOS rate: -0.173001 deg/s, posRepo size: 4
2021-08-14T01:22:16.590Z,1628904136.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:22:16.922Z,1628904136.922 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:22:16.922Z,1628904136.922 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:22:16.922Z,1628904136.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:22:16.923Z,1628904136.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:22:17.325Z,1628904137.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDE,000,0056C,186,80,80,92,FF
2021-08-14T01:22:17.325Z,1628904137.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:22:17.325Z,1628904137.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:22:17.327Z,1628904137.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:22:17.749Z,1628904137.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:22:18.129Z,1628904138.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,005A9,186,80,80,72,FF
2021-08-14T01:22:18.130Z,1628904138.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:22:18.565Z,1628904138.565 [Micromodem](INFO): Nmea in: $SNTTA,0.057123,,,,012218.38*41

2021-08-14T01:22:18.587Z,1628904138.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.439995 m, bearing: 321.295186 deg, deltaT: 4.525757 s, approachRate: 0.808703 m/s, LOS rate: 0.560377 deg/s, posRepo size: 4
2021-08-14T01:22:21.012Z,1628904141.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:22:21.364Z,1628904141.364 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:22:21.364Z,1628904141.364 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:22:21.364Z,1628904141.364 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:22:21.365Z,1628904141.365 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:22:21.789Z,1628904141.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,005A9,186,80,80,72,FF
2021-08-14T01:22:21.789Z,1628904141.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:22:21.789Z,1628904141.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:22:21.791Z,1628904141.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:22:22.228Z,1628904142.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:22:22.577Z,1628904142.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,005DB,185,80,80,47,FF
2021-08-14T01:22:22.578Z,1628904142.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:22:23.005Z,1628904143.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012222.85*52

2021-08-14T01:22:23.055Z,1628904143.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.440002 m, bearing: 325.816935 deg, deltaT: 4.374424 s, approachRate: 0.685806 m/s, LOS rate: 1.033679 deg/s, posRepo size: 4
2021-08-14T01:22:25.437Z,1628904145.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:22:25.821Z,1628904145.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:22:25.821Z,1628904145.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:22:25.821Z,1628904145.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:22:25.822Z,1628904145.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:22:26.261Z,1628904146.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,005DB,185,80,80,47,FF
2021-08-14T01:22:26.261Z,1628904146.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:22:26.261Z,1628904146.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:22:26.263Z,1628904146.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:22:26.632Z,1628904146.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:22:27.025Z,1628904147.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,0060A,187,80,80,6D,FF
2021-08-14T01:22:27.025Z,1628904147.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:22:27.436Z,1628904147.436 [Micromodem](INFO): Nmea in: $SNTTA,0.049410,,,,012227.32*4D

2021-08-14T01:22:27.486Z,1628904147.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.259998 m, bearing: 318.746378 deg, deltaT: 4.453344 s, approachRate: 0.633231 m/s, LOS rate: -1.587696 deg/s, posRepo size: 4
2021-08-14T01:22:29.884Z,1628904149.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:22:30.277Z,1628904150.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:22:30.277Z,1628904150.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:22:30.277Z,1628904150.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:22:30.278Z,1628904150.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:22:30.669Z,1628904150.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,0060A,187,80,80,6D,FF
2021-08-14T01:22:30.669Z,1628904150.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:22:30.669Z,1628904150.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:22:30.671Z,1628904150.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:22:31.070Z,1628904151.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:22:31.476Z,1628904151.476 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6A,000,0063B,189,80,80,1E,FF
2021-08-14T01:22:31.477Z,1628904151.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:22:31.898Z,1628904151.898 [Micromodem](INFO): Nmea in: $SNTTA,0.053552,,,,012231.73*43

2021-08-14T01:22:31.923Z,1628904151.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.200001 m, bearing: 349.309152 deg, deltaT: 4.421586 s, approachRate: 0.664920 m/s, LOS rate: 6.912174 deg/s, posRepo size: 4
2021-08-14T01:22:34.359Z,1628904154.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:22:34.697Z,1628904154.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:22:34.697Z,1628904154.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:22:34.697Z,1628904154.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:22:34.698Z,1628904154.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:22:35.097Z,1628904155.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6A,000,0063B,189,80,80,1E,FF
2021-08-14T01:22:35.097Z,1628904155.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:22:35.097Z,1628904155.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:22:35.099Z,1628904155.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:22:35.516Z,1628904155.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:22:35.909Z,1628904155.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,0066D,187,80,80,9F,FF
2021-08-14T01:22:35.909Z,1628904155.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:22:36.363Z,1628904156.363 [Micromodem](INFO): Nmea in: $SNTTA,0.068957,0.489568,,,012236.16*56

2021-08-14T01:22:36.414Z,1628904156.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.200008 m, bearing: 312.280156 deg, deltaT: 4.473144 s, approachRate: 0.670671 m/s, LOS rate: -8.278070 deg/s, posRepo size: 4
2021-08-14T01:22:38.789Z,1628904158.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:22:39.141Z,1628904159.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:22:39.141Z,1628904159.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:22:39.141Z,1628904159.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:22:39.142Z,1628904159.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:22:39.549Z,1628904159.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,0066D,187,80,80,9F,FF
2021-08-14T01:22:39.549Z,1628904159.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:22:39.549Z,1628904159.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:22:39.551Z,1628904159.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:22:39.949Z,1628904159.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:22:40.355Z,1628904160.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,006A5,186,80,80,8C,FF
2021-08-14T01:22:40.355Z,1628904160.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:22:40.821Z,1628904160.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012240.61*5C

2021-08-14T01:22:40.847Z,1628904160.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.559998 m, bearing: 312.307531 deg, deltaT: 4.458997 s, approachRate: 0.753530 m/s, LOS rate: 0.006139 deg/s, posRepo size: 4
2021-08-14T01:22:43.218Z,1628904163.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:22:43.589Z,1628904163.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:22:43.589Z,1628904163.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:22:43.589Z,1628904163.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:22:43.590Z,1628904163.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:22:43.989Z,1628904163.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,006A5,186,80,80,8C,FF
2021-08-14T01:22:43.989Z,1628904163.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:22:43.990Z,1628904163.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:22:43.991Z,1628904163.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:22:44.425Z,1628904164.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:22:44.813Z,1628904164.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,006D2,186,80,80,9F,FF
2021-08-14T01:22:44.814Z,1628904164.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:22:45.233Z,1628904165.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012245.05*5B

2021-08-14T01:22:45.263Z,1628904165.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.260002 m, bearing: 310.169054 deg, deltaT: 4.471503 s, approachRate: 0.603825 m/s, LOS rate: -0.478246 deg/s, posRepo size: 4
2021-08-14T01:22:47.662Z,1628904167.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:22:48.033Z,1628904168.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:22:48.033Z,1628904168.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:22:48.033Z,1628904168.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:22:48.034Z,1628904168.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:22:48.429Z,1628904168.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,006D2,186,80,80,9F,FF
2021-08-14T01:22:48.429Z,1628904168.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:22:48.429Z,1628904168.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:22:48.431Z,1628904168.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:22:48.849Z,1628904168.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:22:49.249Z,1628904169.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,00707,186,80,80,8E,FF
2021-08-14T01:22:49.250Z,1628904169.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:22:49.678Z,1628904169.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012249.49*5F

2021-08-14T01:22:49.694Z,1628904169.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.440002 m, bearing: 311.201286 deg, deltaT: 4.393240 s, approachRate: 0.723839 m/s, LOS rate: 0.234959 deg/s, posRepo size: 4
2021-08-14T01:22:52.101Z,1628904172.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:22:52.473Z,1628904172.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:22:52.473Z,1628904172.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:22:52.473Z,1628904172.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:22:52.474Z,1628904172.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:22:52.879Z,1628904172.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,00707,186,80,80,8E,FF
2021-08-14T01:22:52.879Z,1628904172.879 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:22:52.879Z,1628904172.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:22:52.881Z,1628904172.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:22:53.292Z,1628904173.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:22:53.685Z,1628904173.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,0073B,187,80,80,AA,FF
2021-08-14T01:22:53.685Z,1628904173.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:22:54.133Z,1628904174.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012253.94*54

2021-08-14T01:22:54.203Z,1628904174.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.560005 m, bearing: 311.362697 deg, deltaT: 4.452002 s, approachRate: 0.700809 m/s, LOS rate: 0.036256 deg/s, posRepo size: 4
2021-08-14T01:22:56.559Z,1628904176.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:22:56.917Z,1628904176.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:22:56.917Z,1628904176.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:22:56.917Z,1628904176.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:22:56.918Z,1628904176.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:22:57.325Z,1628904177.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,0073B,187,80,80,AA,FF
2021-08-14T01:22:57.325Z,1628904177.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:22:57.325Z,1628904177.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:22:57.327Z,1628904177.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:22:57.751Z,1628904177.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:22:58.137Z,1628904178.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,00771,186,80,80,8F,FF
2021-08-14T01:22:58.137Z,1628904178.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:22:58.569Z,1628904178.569 [Micromodem](INFO): Nmea in: $SNTTA,0.077428,,,,012258.39*48

2021-08-14T01:22:58.615Z,1628904178.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.800003 m, bearing: 311.010451 deg, deltaT: 4.486107 s, approachRate: 0.722229 m/s, LOS rate: -0.078519 deg/s, posRepo size: 4
2021-08-14T01:23:00.999Z,1628904180.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:01.365Z,1628904181.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:23:01.366Z,1628904181.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:23:01.366Z,1628904181.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:23:01.367Z,1628904181.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:23:01.781Z,1628904181.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,00771,186,80,80,8F,FF
2021-08-14T01:23:01.782Z,1628904181.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:23:01.783Z,1628904181.783 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:23:01.785Z,1628904181.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:23:02.221Z,1628904182.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:23:02.569Z,1628904182.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,007A1,186,80,80,96,FF
2021-08-14T01:23:02.570Z,1628904182.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:23:03.013Z,1628904183.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012302.84*50

2021-08-14T01:23:03.056Z,1628904183.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.680000 m, bearing: 310.006577 deg, deltaT: 4.359283 s, approachRate: 0.660658 m/s, LOS rate: -0.230284 deg/s, posRepo size: 4
2021-08-14T01:23:05.459Z,1628904185.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:05.825Z,1628904185.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:23:05.825Z,1628904185.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:23:05.825Z,1628904185.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:23:05.826Z,1628904185.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:23:06.261Z,1628904186.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,007A1,186,80,80,96,FF
2021-08-14T01:23:06.261Z,1628904186.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:23:06.261Z,1628904186.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:23:06.263Z,1628904186.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:23:06.632Z,1628904186.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:23:07.049Z,1628904187.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,007D8,186,80,80,A5,FF
2021-08-14T01:23:07.049Z,1628904187.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:23:07.459Z,1628904187.459 [Micromodem](INFO): Nmea in: $SNTTA,0.074594,,,,012307.33*4C

2021-08-14T01:23:07.503Z,1628904187.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.980003 m, bearing: 307.819195 deg, deltaT: 4.512305 s, approachRate: 0.731334 m/s, LOS rate: -0.484759 deg/s, posRepo size: 4
2021-08-14T01:23:09.917Z,1628904189.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:10.277Z,1628904190.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:23:10.277Z,1628904190.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:23:10.277Z,1628904190.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:23:10.278Z,1628904190.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:23:10.701Z,1628904190.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,007D8,186,80,80,A5,FF
2021-08-14T01:23:10.703Z,1628904190.703 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:23:10.704Z,1628904190.704 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:23:10.709Z,1628904190.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:23:11.085Z,1628904191.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:23:11.491Z,1628904191.491 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB2,000,0080D,185,80,80,82,FF
2021-08-14T01:23:11.491Z,1628904191.491 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:23:11.921Z,1628904191.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012311.77*5E

2021-08-14T01:23:11.955Z,1628904191.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.159996 m, bearing: 306.705519 deg, deltaT: 4.408123 s, approachRate: 0.721394 m/s, LOS rate: -0.252642 deg/s, posRepo size: 4
2021-08-14T01:23:14.377Z,1628904194.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:14.709Z,1628904194.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:23:14.709Z,1628904194.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:23:14.709Z,1628904194.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:23:14.710Z,1628904194.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:23:15.130Z,1628904195.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB2,000,0080D,185,80,80,82,FF
2021-08-14T01:23:15.130Z,1628904195.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:23:15.130Z,1628904195.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:23:15.132Z,1628904195.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:23:15.533Z,1628904195.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:23:15.933Z,1628904195.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE1,000,0088B,185,80,80,78,FF
2021-08-14T01:23:15.933Z,1628904195.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:23:16.358Z,1628904196.358 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012316.19*51

2021-08-14T01:23:16.414Z,1628904196.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.720001 m, bearing: 304.371753 deg, deltaT: 4.490048 s, approachRate: 1.683725 m/s, LOS rate: -0.519764 deg/s, posRepo size: 4
2021-08-14T01:23:18.807Z,1628904198.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:19.180Z,1628904199.180 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:23:19.180Z,1628904199.180 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:23:19.180Z,1628904199.180 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:23:19.181Z,1628904199.181 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:23:19.569Z,1628904199.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE1,000,0088B,185,80,80,78,FF
2021-08-14T01:23:19.570Z,1628904199.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:23:19.570Z,1628904199.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:23:19.572Z,1628904199.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:23:19.986Z,1628904199.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:23:20.384Z,1628904200.384 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,00873,184,80,80,A2,FF
2021-08-14T01:23:20.385Z,1628904200.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:23:20.845Z,1628904200.845 [Micromodem](INFO): Nmea in: $SNTTA,0.073796,,,,012320.63*4B

2021-08-14T01:23:20.883Z,1628904200.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.280006 m, bearing: 305.257710 deg, deltaT: 4.422872 s, approachRate: -0.325579 m/s, LOS rate: 0.200313 deg/s, posRepo size: 4
2021-08-14T01:23:23.234Z,1628904203.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:23.613Z,1628904203.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:23:23.613Z,1628904203.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:23:23.614Z,1628904203.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:23:23.615Z,1628904203.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:23:24.013Z,1628904204.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,00873,184,80,80,A2,FF
2021-08-14T01:23:24.013Z,1628904204.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:23:24.014Z,1628904204.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:23:24.017Z,1628904204.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:23:24.428Z,1628904204.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:23:25.254Z,1628904205.254 [Micromodem](INFO): Nmea in: $SNTTA,,0.030023,,,012325.08*4D

2021-08-14T01:23:26.060Z,1628904206.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:27.649Z,1628904207.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,A2,FF
2021-08-14T01:23:27.649Z,1628904207.649 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,A2,FF
2021-08-14T01:23:27.649Z,1628904207.649 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:23:28.921Z,1628904208.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:29.257Z,1628904209.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:23:29.257Z,1628904209.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:23:29.258Z,1628904209.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:23:29.259Z,1628904209.259 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:23:29.661Z,1628904209.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,A2,FF
2021-08-14T01:23:29.661Z,1628904209.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:23:29.661Z,1628904209.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:23:29.663Z,1628904209.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:23:30.096Z,1628904210.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:23:30.898Z,1628904210.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012330.73*59

2021-08-14T01:23:31.714Z,1628904211.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:33.297Z,1628904213.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,A2,FF
2021-08-14T01:23:33.297Z,1628904213.297 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,A2,FF
2021-08-14T01:23:33.298Z,1628904213.298 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:23:34.560Z,1628904214.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:34.921Z,1628904214.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:23:34.921Z,1628904214.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:23:34.921Z,1628904214.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:23:34.922Z,1628904214.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:23:35.323Z,1628904215.323 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,A2,FF
2021-08-14T01:23:35.323Z,1628904215.323 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:23:35.323Z,1628904215.323 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:23:35.325Z,1628904215.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:23:35.738Z,1628904215.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:23:36.552Z,1628904216.552 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012336.38*50

2021-08-14T01:23:36.948Z,1628904216.948 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,02654,183,80,80,91,FF
2021-08-14T01:23:36.949Z,1628904216.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:23:37.381Z,1628904217.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 551.219971 m, bearing: 302.265787 deg, deltaT: 16.561737 s, approachRate: 27.710859 m/s, LOS rate: -0.180653 deg/s, posRepo size: 4
2021-08-14T01:23:37.382Z,1628904217.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 551.22 m. Resuming terminal guidance.
2021-08-14T01:23:37.382Z,1628904217.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T01:23:39.825Z,1628904219.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:40.184Z,1628904220.184 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:23:40.184Z,1628904220.184 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:23:40.185Z,1628904220.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:23:40.186Z,1628904220.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:23:40.593Z,1628904220.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,02654,183,80,80,91,FF
2021-08-14T01:23:40.593Z,1628904220.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:23:40.593Z,1628904220.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:23:40.595Z,1628904220.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:23:40.995Z,1628904220.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:23:41.818Z,1628904221.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012341.66*5B

2021-08-14T01:23:42.630Z,1628904222.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:44.249Z,1628904224.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,09627,183,80,80,94,FF
2021-08-14T01:23:44.250Z,1628904224.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:23:44.655Z,1628904224.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2268.840088 m, bearing: 300.354017 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T01:23:44.656Z,1628904224.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 300.354017deg and heading rate command to 0 deg/s.
2021-08-14T01:23:47.069Z,1628904227.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:47.437Z,1628904227.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:23:47.437Z,1628904227.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:23:47.437Z,1628904227.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:23:47.438Z,1628904227.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:23:47.845Z,1628904227.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,09627,183,80,80,94,FF
2021-08-14T01:23:47.845Z,1628904227.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:23:47.845Z,1628904227.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:23:47.847Z,1628904227.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:23:48.277Z,1628904228.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:23:48.650Z,1628904228.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,009C3,185,80,80,99,FF
2021-08-14T01:23:48.650Z,1628904228.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:23:49.097Z,1628904229.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012348.91*5A

2021-08-14T01:23:49.123Z,1628904229.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.440002 m, bearing: 304.357246 deg, deltaT: 4.283635 s, approachRate: -503.404266 m/s, LOS rate: 0.934540 deg/s, posRepo size: 2
2021-08-14T01:23:49.125Z,1628904229.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.440002 m,
      bearing: 304.357246 deg,
      approachRate: -503.404266 m/s,
      LOS rate: 0.934540 deg/s,
      cmd update: 2.803620 deg/s,
      cmd heading: 300.354017 deg,
      new cmd heading: 300.354017 deg.

2021-08-14T01:23:51.494Z,1628904231.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:51.884Z,1628904231.884 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:23:51.884Z,1628904231.884 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:23:51.885Z,1628904231.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:23:51.885Z,1628904231.885 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:23:52.285Z,1628904232.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,009C3,185,80,80,99,FF
2021-08-14T01:23:52.285Z,1628904232.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:23:52.285Z,1628904232.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:23:52.287Z,1628904232.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:23:52.705Z,1628904232.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:23:53.531Z,1628904233.531 [Micromodem](INFO): Nmea in: $SNTTA,0.079550,,,,012353.35*4E

2021-08-14T01:23:54.367Z,1628904234.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:55.925Z,1628904235.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,185,80,80,99,FF
2021-08-14T01:23:55.926Z,1628904235.926 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,185,80,80,99,FF
2021-08-14T01:23:55.926Z,1628904235.926 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:23:55.933Z,1628904235.933 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T01:23:57.166Z,1628904237.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:23:57.541Z,1628904237.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:23:57.541Z,1628904237.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:23:57.541Z,1628904237.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:23:57.542Z,1628904237.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:23:57.945Z,1628904237.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,185,80,80,99,FF
2021-08-14T01:23:57.945Z,1628904237.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:23:57.946Z,1628904237.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:23:57.947Z,1628904237.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:23:58.389Z,1628904238.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:24:00.021Z,1628904240.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:01.210Z,1628904241.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,0063,E4
3,185,80,80,99,FF
2021-08-14T01:24:01.210Z,1628904241.210 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F21,0063,E4
3,185,80,80,99,FF
2021-08-14T01:24:02.885Z,1628904242.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:03.649Z,1628904243.649 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.106542
2021-08-14T01:24:05.670Z,1628904245.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:06.053Z,1628904246.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:24:06.053Z,1628904246.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:24:06.053Z,1628904246.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:24:06.054Z,1628904246.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:24:06.071Z,1628904246.071 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:24:06.457Z,1628904246.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,0063,E4
3,185,80,80,99,FF
2021-08-14T01:24:06.457Z,1628904246.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:24:06.458Z,1628904246.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:24:06.459Z,1628904246.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:24:06.860Z,1628904246.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:24:07.269Z,1628904247.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,00A8F,186,80,80,9D,FF
2021-08-14T01:24:07.269Z,1628904247.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:24:07.724Z,1628904247.724 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012407.52*59

2021-08-14T01:24:07.787Z,1628904247.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.680008 m, bearing: 358.972394 deg, deltaT: 18.614713 s, approachRate: 0.657545 m/s, LOS rate: 2.933978 deg/s, posRepo size: 3
2021-08-14T01:24:07.789Z,1628904247.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.680008 m,
      bearing: 358.972394 deg,
      approachRate: 0.657545 m/s,
      LOS rate: 2.933978 deg/s,
      cmd update: 8.801932 deg/s,
      cmd heading: 352.542224 deg,
      new cmd heading: 353.947311 deg.

2021-08-14T01:24:08.502Z,1628904248.502 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:24:10.134Z,1628904250.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:10.501Z,1628904250.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:24:10.501Z,1628904250.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:24:10.501Z,1628904250.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:24:10.502Z,1628904250.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:24:10.909Z,1628904250.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,00A8F,186,80,80,9D,FF
2021-08-14T01:24:10.909Z,1628904250.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:24:10.909Z,1628904250.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:24:10.911Z,1628904250.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:24:10.961Z,1628904250.961 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T01:24:11.316Z,1628904251.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:24:11.714Z,1628904251.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,00AB1,187,80,80,A3,FF
2021-08-14T01:24:11.714Z,1628904251.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:24:12.148Z,1628904252.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012411.97*57

2021-08-14T01:24:12.237Z,1628904252.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.720001 m, bearing: 8.738694 deg, deltaT: 4.501268 s, approachRate: 0.453204 m/s, LOS rate: 2.169680 deg/s, posRepo size: 4
2021-08-14T01:24:12.239Z,1628904252.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.720001 m,
      bearing: 8.738694 deg,
      approachRate: 0.453204 m/s,
      LOS rate: 2.169680 deg/s,
      cmd update: 6.509041 deg/s,
      cmd heading: 32.126521 deg,
      new cmd heading: 36.120301 deg.

2021-08-14T01:24:14.588Z,1628904254.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:14.941Z,1628904254.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:24:14.941Z,1628904254.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:24:14.941Z,1628904254.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:24:14.942Z,1628904254.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:24:15.346Z,1628904255.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,00AB1,187,80,80,A3,FF
2021-08-14T01:24:15.346Z,1628904255.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:24:15.346Z,1628904255.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:24:15.349Z,1628904255.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:24:15.784Z,1628904255.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:24:16.169Z,1628904256.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCC,000,00ACA,189,80,80,77,FF
2021-08-14T01:24:16.170Z,1628904256.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:24:16.585Z,1628904256.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012416.41*5B

2021-08-14T01:24:16.641Z,1628904256.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.220001 m, bearing: 43.997948 deg, deltaT: 4.461818 s, approachRate: 0.336186 m/s, LOS rate: 7.902441 deg/s, posRepo size: 4
2021-08-14T01:24:16.643Z,1628904256.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.220001 m,
      bearing: 43.997948 deg,
      approachRate: 0.336186 m/s,
      LOS rate: 7.902441 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 61.142349 deg,
      new cmd heading: 63.743395 deg.

2021-08-14T01:24:19.032Z,1628904259.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:19.401Z,1628904259.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:24:19.401Z,1628904259.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:24:19.401Z,1628904259.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:24:19.402Z,1628904259.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:24:19.821Z,1628904259.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCC,000,00ACA,189,80,80,77,FF
2021-08-14T01:24:19.821Z,1628904259.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:24:19.821Z,1628904259.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:24:19.823Z,1628904259.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:24:20.239Z,1628904260.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:24:20.605Z,1628904260.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,00AD4,187,80,80,95,FF
2021-08-14T01:24:20.606Z,1628904260.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:24:21.049Z,1628904261.049 [Micromodem](INFO): Nmea in: $SNTTA,0.087947,,,,012420.88*40

2021-08-14T01:24:21.075Z,1628904261.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.820007 m, bearing: 61.967397 deg, deltaT: 4.375098 s, approachRate: 0.137141 m/s, LOS rate: 4.107210 deg/s, posRepo size: 4
2021-08-14T01:24:21.077Z,1628904261.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.820007 m,
      bearing: 61.967397 deg,
      approachRate: 0.137141 m/s,
      LOS rate: 4.107210 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 113.737415 deg,
      new cmd heading: 119.147903 deg.

2021-08-14T01:24:23.478Z,1628904263.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:23.833Z,1628904263.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:24:23.833Z,1628904263.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:24:23.833Z,1628904263.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:24:23.834Z,1628904263.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:24:24.269Z,1628904264.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,00AD4,187,80,80,95,FF
2021-08-14T01:24:24.269Z,1628904264.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:24:24.269Z,1628904264.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:24:24.271Z,1628904264.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:24:24.645Z,1628904264.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:24:25.061Z,1628904265.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C45,000,00AD4,189,80,80,95,FF
2021-08-14T01:24:25.062Z,1628904265.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:24:25.477Z,1628904265.477 [Micromodem](INFO): Nmea in: $SNTTA,0.085541,,,,012425.33*4D

2021-08-14T01:24:25.511Z,1628904265.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.820007 m, bearing: 102.365691 deg, deltaT: 4.485384 s, approachRate: 0.000000 m/s, LOS rate: 9.006652 deg/s, posRepo size: 4
2021-08-14T01:24:25.517Z,1628904265.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.820007 m,
      bearing: 102.365691 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 9.006652 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 167.365944 deg,
      new cmd heading: 172.387069 deg.

2021-08-14T01:24:25.894Z,1628904265.894 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T01:24:27.916Z,1628904267.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:28.287Z,1628904268.287 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:24:28.288Z,1628904268.288 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:24:28.288Z,1628904268.288 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:24:28.289Z,1628904268.289 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:24:28.686Z,1628904268.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C45,000,00AD4,189,80,80,95,FF
2021-08-14T01:24:28.687Z,1628904268.687 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:24:28.687Z,1628904268.687 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:24:28.689Z,1628904268.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:24:29.121Z,1628904269.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:24:29.501Z,1628904269.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00AC3,18A,80,80,BB,FF
2021-08-14T01:24:29.502Z,1628904269.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:24:29.951Z,1628904269.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.800003 m, bearing: 135.869620 deg, deltaT: 4.443792 s, approachRate: -0.229535 m/s, LOS rate: 7.539491 deg/s, posRepo size: 4
2021-08-14T01:24:29.953Z,1628904269.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.800003 m,
      bearing: 135.869620 deg,
      approachRate: -0.229535 m/s,
      LOS rate: 7.539491 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 220.794230 deg,
      new cmd heading: 225.659150 deg.

2021-08-14T01:24:31.117Z,1628904271.117 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:24:32.391Z,1628904272.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:32.735Z,1628904272.735 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:24:32.736Z,1628904272.736 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:24:32.737Z,1628904272.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:24:32.738Z,1628904272.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:24:33.144Z,1628904273.144 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00AC3,18A,80,80,BB,FF
2021-08-14T01:24:33.145Z,1628904273.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:24:33.145Z,1628904273.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:24:33.147Z,1628904273.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:24:33.532Z,1628904273.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:24:33.946Z,1628904273.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D14,000,00AA9,189,80,80,93,FF
2021-08-14T01:24:33.946Z,1628904273.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:24:34.366Z,1628904274.366 [Micromodem](INFO): Nmea in: $SNTTA,0.086303,0.463575,,,012434.21*55

2021-08-14T01:24:34.411Z,1628904274.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.239998 m, bearing: 132.138834 deg, deltaT: 4.472248 s, approachRate: -0.348819 m/s, LOS rate: -0.834208 deg/s, posRepo size: 4
2021-08-14T01:24:34.413Z,1628904274.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.239998 m,
      bearing: 132.138834 deg,
      approachRate: -0.348819 m/s,
      LOS rate: -0.834208 deg/s,
      cmd update: -2.502625 deg/s,
      cmd heading: 274.455532 deg,
      new cmd heading: 279.180124 deg.

2021-08-14T01:24:36.826Z,1628904276.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:37.178Z,1628904277.178 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:24:37.178Z,1628904277.178 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:24:37.178Z,1628904277.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:24:37.179Z,1628904277.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:24:37.573Z,1628904277.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D14,000,00AA9,189,80,80,93,FF
2021-08-14T01:24:37.573Z,1628904277.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:24:37.573Z,1628904277.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:24:37.575Z,1628904277.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:24:37.991Z,1628904277.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:24:38.385Z,1628904278.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,00A82,189,80,80,C4,FF
2021-08-14T01:24:38.385Z,1628904278.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:24:38.837Z,1628904278.837 [Micromodem](INFO): Nmea in: $SNTTA,0.086972,,,,012438.63*4B

2021-08-14T01:24:38.883Z,1628904278.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.900009 m, bearing: 141.277887 deg, deltaT: 4.436659 s, approachRate: -0.527421 m/s, LOS rate: 2.059895 deg/s, posRepo size: 4
2021-08-14T01:24:38.885Z,1628904278.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.900009 m,
      bearing: 141.277887 deg,
      approachRate: -0.527421 m/s,
      LOS rate: 2.059895 deg/s,
      cmd update: 6.179685 deg/s,
      cmd heading: 263.340680 deg,
      new cmd heading: 262.277032 deg.

2021-08-14T01:24:41.239Z,1628904281.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:41.605Z,1628904281.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:24:41.605Z,1628904281.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:24:41.605Z,1628904281.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:24:41.606Z,1628904281.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:24:42.013Z,1628904282.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,00A82,189,80,80,C4,FF
2021-08-14T01:24:42.013Z,1628904282.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:24:42.013Z,1628904282.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:24:42.015Z,1628904282.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:24:42.437Z,1628904282.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:24:42.829Z,1628904282.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00A58,184,80,80,A4,FF
2021-08-14T01:24:42.829Z,1628904282.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:24:43.271Z,1628904283.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.380005 m, bearing: 134.948938 deg, deltaT: 4.461174 s, approachRate: -0.564875 m/s, LOS rate: -1.418673 deg/s, posRepo size: 4
2021-08-14T01:24:43.273Z,1628904283.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.380005 m,
      bearing: 134.948938 deg,
      approachRate: -0.564875 m/s,
      LOS rate: -1.418673 deg/s,
      cmd update: -4.256020 deg/s,
      cmd heading: 290.880435 deg,
      new cmd heading: 293.080552 deg.

2021-08-14T01:24:45.791Z,1628904285.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:46.049Z,1628904286.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:24:46.049Z,1628904286.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:24:46.049Z,1628904286.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:24:46.050Z,1628904286.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:24:46.465Z,1628904286.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00A58,184,80,80,A4,FF
2021-08-14T01:24:46.465Z,1628904286.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:24:46.465Z,1628904286.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:24:46.467Z,1628904286.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:24:46.881Z,1628904286.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:24:47.269Z,1628904287.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,163,000,00A2C,186,80,80,8F,FF
2021-08-14T01:24:47.270Z,1628904287.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:24:47.718Z,1628904287.718 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012447.53*5C

2021-08-14T01:24:47.799Z,1628904287.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.740005 m, bearing: 133.828841 deg, deltaT: 4.407279 s, approachRate: -0.599009 m/s, LOS rate: -0.254147 deg/s, posRepo size: 4
2021-08-14T01:24:47.806Z,1628904287.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.740005 m,
      bearing: 133.828841 deg,
      approachRate: -0.599009 m/s,
      LOS rate: -0.254147 deg/s,
      cmd update: -0.762441 deg/s,
      cmd heading: 272.085892 deg,
      new cmd heading: 270.090938 deg.

2021-08-14T01:24:50.126Z,1628904290.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:50.497Z,1628904290.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:24:50.497Z,1628904290.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:24:50.497Z,1628904290.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:24:50.498Z,1628904290.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:24:50.913Z,1628904290.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
163,000,00A2C,186,80,80,8F,FF
2021-08-14T01:24:50.913Z,1628904290.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:24:50.913Z,1628904290.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:24:50.915Z,1628904290.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:24:50.983Z,1628904290.983 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T01:24:51.313Z,1628904291.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:24:51.717Z,1628904291.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37C,000,00A01,189,80,80,B0,FF
2021-08-14T01:24:51.717Z,1628904291.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:24:52.181Z,1628904292.181 [Micromodem](INFO): Nmea in: $SNTTA,0.084966,,,,012451.98*47

2021-08-14T01:24:52.260Z,1628904292.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.160004 m, bearing: 125.807618 deg, deltaT: 4.455893 s, approachRate: -0.579009 m/s, LOS rate: -1.800138 deg/s, posRepo size: 4
2021-08-14T01:24:52.262Z,1628904292.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.160004 m,
      bearing: 125.807618 deg,
      approachRate: -0.579009 m/s,
      LOS rate: -1.800138 deg/s,
      cmd update: -5.400415 deg/s,
      cmd heading: 268.691601 deg,
      new cmd heading: 268.334166 deg.

2021-08-14T01:24:54.598Z,1628904294.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:54.946Z,1628904294.946 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:24:54.946Z,1628904294.946 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:24:54.947Z,1628904294.947 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:24:54.948Z,1628904294.948 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:24:55.346Z,1628904295.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37C,000,00A01,189,80,80,B0,FF
2021-08-14T01:24:55.346Z,1628904295.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:24:55.346Z,1628904295.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:24:55.373Z,1628904295.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:24:55.795Z,1628904295.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:24:56.179Z,1628904296.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009E6,189,80,80,AA,FF
2021-08-14T01:24:56.184Z,1628904296.184 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:24:56.577Z,1628904296.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012456.43*5D

2021-08-14T01:24:56.621Z,1628904296.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.540001 m, bearing: 124.695116 deg, deltaT: 4.479520 s, approachRate: -0.361647 m/s, LOS rate: -0.248353 deg/s, posRepo size: 4
2021-08-14T01:24:56.623Z,1628904296.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.540001 m,
      bearing: 124.695116 deg,
      approachRate: -0.361647 m/s,
      LOS rate: -0.248353 deg/s,
      cmd update: -0.745058 deg/s,
      cmd heading: 244.502335 deg,
      new cmd heading: 242.562463 deg.

2021-08-14T01:24:59.038Z,1628904299.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:24:59.397Z,1628904299.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:24:59.397Z,1628904299.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:24:59.397Z,1628904299.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:24:59.398Z,1628904299.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:24:59.817Z,1628904299.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009E6,189,80,80,AA,FF
2021-08-14T01:24:59.817Z,1628904299.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:24:59.817Z,1628904299.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:24:59.819Z,1628904299.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:25:00.276Z,1628904300.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:25:00.656Z,1628904300.656 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4A,000,009D2,189,80,80,B1,FF
2021-08-14T01:25:00.656Z,1628904300.656 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:25:01.085Z,1628904301.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012500.88*58

2021-08-14T01:25:01.110Z,1628904301.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.340004 m, bearing: 240.851185 deg, deltaT: 4.406962 s, approachRate: -0.272296 m/s, LOS rate: 26.357401 deg/s, posRepo size: 4
2021-08-14T01:25:01.111Z,1628904301.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 26.357401 deg/s. Setting heading cmd to target bearing of 240.851185deg and heading rate command to 0 deg/s.
2021-08-14T01:25:03.502Z,1628904303.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:25:03.885Z,1628904303.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:25:03.885Z,1628904303.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:25:03.885Z,1628904303.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:25:03.886Z,1628904303.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:25:04.289Z,1628904304.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4A,000,009D2,189,80,80,B1,FF
2021-08-14T01:25:04.289Z,1628904304.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:25:04.289Z,1628904304.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:25:04.291Z,1628904304.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:25:04.693Z,1628904304.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:25:05.102Z,1628904305.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009C7,189,80,80,8F,FF
2021-08-14T01:25:05.102Z,1628904305.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:25:05.533Z,1628904305.533 [Micromodem](INFO): Nmea in: $SNTTA,0.082197,,,,012505.35*40

2021-08-14T01:25:05.555Z,1628904305.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.680000 m, bearing: 162.321249 deg, deltaT: 4.456039 s, approachRate: -0.148114 m/s, LOS rate: -17.623261 deg/s, posRepo size: 4
2021-08-14T01:25:05.577Z,1628904305.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.623261 deg/s. Setting heading cmd to target bearing of 162.321249deg and heading rate command to 0 deg/s.
2021-08-14T01:25:07.953Z,1628904307.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:25:08.334Z,1628904308.334 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:25:08.334Z,1628904308.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:25:08.335Z,1628904308.335 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:25:08.338Z,1628904308.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:25:08.727Z,1628904308.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009C7,189,80,80,8F,FF
2021-08-14T01:25:08.727Z,1628904308.727 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:25:08.729Z,1628904308.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:25:08.735Z,1628904308.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:25:09.133Z,1628904309.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:25:09.547Z,1628904309.547 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,46C,000,009D2,189,80,80,93,FF
2021-08-14T01:25:09.547Z,1628904309.547 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:25:09.981Z,1628904309.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012509.80*59

2021-08-14T01:25:10.027Z,1628904310.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.340004 m, bearing: 185.194268 deg, deltaT: 4.442113 s, approachRate: 0.148579 m/s, LOS rate: 5.149131 deg/s, posRepo size: 4
2021-08-14T01:25:10.029Z,1628904310.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.340004 m,
      bearing: 185.194268 deg,
      approachRate: 0.148579 m/s,
      LOS rate: 5.149131 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 162.321249 deg,
      new cmd heading: 162.321249 deg.

2021-08-14T01:25:12.415Z,1628904312.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:25:12.797Z,1628904312.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:25:12.797Z,1628904312.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:25:12.797Z,1628904312.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:25:12.798Z,1628904312.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:25:13.177Z,1628904313.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
46C,000,009D2,189,80,80,93,FF
2021-08-14T01:25:13.177Z,1628904313.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:25:13.177Z,1628904313.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:25:13.179Z,1628904313.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:25:13.586Z,1628904313.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:25:13.999Z,1628904313.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,009E6,188,80,80,91,FF
2021-08-14T01:25:13.000Z,1628904314.000 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:25:14.425Z,1628904314.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012514.24*5B

2021-08-14T01:25:14.485Z,1628904314.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.540001 m, bearing: 198.796959 deg, deltaT: 4.455986 s, approachRate: 0.269300 m/s, LOS rate: 3.052678 deg/s, posRepo size: 4
2021-08-14T01:25:14.487Z,1628904314.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.540001 m,
      bearing: 198.796959 deg,
      approachRate: 0.269300 m/s,
      LOS rate: 3.052678 deg/s,
      cmd update: 9.158035 deg/s,
      cmd heading: 215.790034 deg,
      new cmd heading: 221.230871 deg.

2021-08-14T01:25:16.845Z,1628904316.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:25:17.213Z,1628904317.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:25:17.213Z,1628904317.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:25:17.213Z,1628904317.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:25:17.214Z,1628904317.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:25:17.613Z,1628904317.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,009E6,188,80,80,91,FF
2021-08-14T01:25:17.613Z,1628904317.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:25:17.613Z,1628904317.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:25:17.615Z,1628904317.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:25:18.033Z,1628904318.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:25:18.429Z,1628904318.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009EE,189,80,80,76,FF
2021-08-14T01:25:18.430Z,1628904318.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:25:18.861Z,1628904318.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012518.68*5F

2021-08-14T01:25:18.898Z,1628904318.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.020004 m, bearing: 154.083098 deg, deltaT: 4.471249 s, approachRate: 0.107353 m/s, LOS rate: -10.000306 deg/s, posRepo size: 4
2021-08-14T01:25:18.900Z,1628904318.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.020004 m,
      bearing: 154.083098 deg,
      approachRate: 0.107353 m/s,
      LOS rate: -10.000306 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 256.703343 deg,
      new cmd heading: 260.398986 deg.

2021-08-14T01:25:21.274Z,1628904321.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:25:21.665Z,1628904321.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:25:21.665Z,1628904321.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:25:21.665Z,1628904321.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:25:21.666Z,1628904321.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:25:22.068Z,1628904322.068 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009EE,189,80,80,76,FF
2021-08-14T01:25:22.069Z,1628904322.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:25:22.069Z,1628904322.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:25:22.070Z,1628904322.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:25:22.477Z,1628904322.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:25:22.877Z,1628904322.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,009F6,186,80,80,4D,FF
2021-08-14T01:25:22.877Z,1628904322.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:25:23.317Z,1628904323.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012523.13*5B

2021-08-14T01:25:23.336Z,1628904323.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.500000 m, bearing: 245.301190 deg, deltaT: 4.442204 s, approachRate: 0.108054 m/s, LOS rate: 20.534422 deg/s, posRepo size: 4
2021-08-14T01:25:23.337Z,1628904323.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.534422 deg/s. Setting heading cmd to target bearing of 245.301190deg and heading rate command to 0 deg/s.
2021-08-14T01:25:25.719Z,1628904325.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:25:26.101Z,1628904326.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:25:26.101Z,1628904326.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:25:26.101Z,1628904326.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:25:26.102Z,1628904326.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:25:26.513Z,1628904326.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,009F6,186,80,80,4D,FF
2021-08-14T01:25:26.513Z,1628904326.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:25:26.513Z,1628904326.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:25:26.515Z,1628904326.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:25:26.908Z,1628904326.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:25:27.317Z,1628904327.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36B,000,00A02,189,80,80,B1,FF
2021-08-14T01:25:27.317Z,1628904327.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:25:27.770Z,1628904327.770 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012527.57*5F

2021-08-14T01:25:27.796Z,1628904327.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.220001 m, bearing: 195.676027 deg, deltaT: 4.395191 s, approachRate: 0.163816 m/s, LOS rate: -11.290787 deg/s, posRepo size: 4
2021-08-14T01:25:27.798Z,1628904327.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.220001 m,
      bearing: 195.676027 deg,
      approachRate: 0.163816 m/s,
      LOS rate: -11.290787 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 245.301190 deg,
      new cmd heading: 245.301190 deg.

2021-08-14T01:25:30.231Z,1628904330.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:25:30.545Z,1628904330.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:25:30.545Z,1628904330.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:25:30.545Z,1628904330.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:25:30.546Z,1628904330.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:25:30.603Z,1628904330.603 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-14T01:25:30.953Z,1628904330.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36B,000,00A02,189,80,80,B1,FF
2021-08-14T01:25:30.953Z,1628904330.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:25:30.953Z,1628904330.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:25:30.955Z,1628904330.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:25:31.377Z,1628904331.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:25:31.781Z,1628904331.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F7,000,00A1A,188,80,80,9A,FF
2021-08-14T01:25:31.781Z,1628904331.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:25:32.225Z,1628904332.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012532.02*5B

2021-08-14T01:25:32.271Z,1628904332.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.660004 m, bearing: 203.646789 deg, deltaT: 4.476408 s, approachRate: 0.321687 m/s, LOS rate: 1.780616 deg/s, posRepo size: 4
2021-08-14T01:25:32.274Z,1628904332.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.660004 m,
      bearing: 203.646789 deg,
      approachRate: 0.321687 m/s,
      LOS rate: 1.780616 deg/s,
      cmd update: 5.341847 deg/s,
      cmd heading: 191.567780 deg,
      new cmd heading: 186.055628 deg.

2021-08-14T01:25:34.615Z,1628904334.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:25:35.009Z,1628904335.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:25:35.009Z,1628904335.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:25:35.009Z,1628904335.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:25:35.010Z,1628904335.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:25:35.413Z,1628904335.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F7,000,00A1A,188,80,80,9A,FF
2021-08-14T01:25:35.413Z,1628904335.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:25:35.413Z,1628904335.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:25:35.415Z,1628904335.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:25:35.834Z,1628904335.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:25:36.249Z,1628904336.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C1,000,00A33,186,80,80,A7,FF
2021-08-14T01:25:36.249Z,1628904336.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:25:36.629Z,1628904336.629 [Micromodem](INFO): Nmea in: $SNTTA,0.217177,,,,012536.48*4A

2021-08-14T01:25:36.663Z,1628904336.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.160011 m, bearing: 217.566797 deg, deltaT: 4.508804 s, approachRate: 0.332684 m/s, LOS rate: 3.087295 deg/s, posRepo size: 4
2021-08-14T01:25:36.665Z,1628904336.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.160011 m,
      bearing: 217.566797 deg,
      approachRate: 0.332684 m/s,
      LOS rate: 3.087295 deg/s,
      cmd update: 9.261884 deg/s,
      cmd heading: 215.609692 deg,
      new cmd heading: 217.479296 deg.

2021-08-14T01:25:39.069Z,1628904339.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:25:39.441Z,1628904339.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:25:39.441Z,1628904339.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:25:39.441Z,1628904339.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:25:39.442Z,1628904339.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:25:39.841Z,1628904339.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C1,000,00A33,186,80,80,A7,FF
2021-08-14T01:25:39.841Z,1628904339.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:25:39.842Z,1628904339.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:25:39.843Z,1628904339.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:25:40.273Z,1628904340.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:25:41.074Z,1628904341.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012540.91*54

2021-08-14T01:25:41.895Z,1628904341.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:25:43.473Z,1628904343.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,A7,FF
2021-08-14T01:25:43.473Z,1628904343.473 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,A7,FF
2021-08-14T01:25:43.473Z,1628904343.473 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:25:44.706Z,1628904344.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:25:45.093Z,1628904345.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:25:45.093Z,1628904345.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:25:45.093Z,1628904345.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:25:45.094Z,1628904345.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:25:45.493Z,1628904345.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,A7,FF
2021-08-14T01:25:45.493Z,1628904345.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:25:45.494Z,1628904345.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:25:45.495Z,1628904345.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:25:45.900Z,1628904345.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:25:46.317Z,1628904346.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FC,000,00A57,188,80,80,B1,FF
2021-08-14T01:25:46.318Z,1628904346.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:25:46.321Z,1628904346.321 [Micromodem](INFO): Nmea in: $SNTTA,0.105555,0.247497,,,012546.56*53

2021-08-14T01:25:46.773Z,1628904346.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.320000 m, bearing: 200.462692 deg, deltaT: 10.083789 s, approachRate: 0.214204 m/s, LOS rate: -1.696198 deg/s, posRepo size: 4
2021-08-14T01:25:46.775Z,1628904346.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.320000 m,
      bearing: 200.462692 deg,
      approachRate: 0.214204 m/s,
      LOS rate: -1.696198 deg/s,
      cmd update: -5.088595 deg/s,
      cmd heading: 309.002347 deg,
      new cmd heading: 312.380045 deg.

2021-08-14T01:25:49.162Z,1628904349.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:25:49.554Z,1628904349.554 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:25:49.554Z,1628904349.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:25:49.554Z,1628904349.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:25:49.555Z,1628904349.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:25:49.945Z,1628904349.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FC,000,00A57,188,80,80,B1,FF
2021-08-14T01:25:49.945Z,1628904349.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:25:49.945Z,1628904349.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:25:49.947Z,1628904349.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:25:50.414Z,1628904350.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:25:50.846Z,1628904350.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,213,000,00A78,187,80,80,9C,FF
2021-08-14T01:25:50.848Z,1628904350.848 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:25:51.209Z,1628904351.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012551.01*5D

2021-08-14T01:25:51.248Z,1628904351.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.299995 m, bearing: 231.526310 deg, deltaT: 4.502513 s, approachRate: 0.439753 m/s, LOS rate: 6.899174 deg/s, posRepo size: 4
2021-08-14T01:25:51.250Z,1628904351.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.299995 m,
      bearing: 231.526310 deg,
      approachRate: 0.439753 m/s,
      LOS rate: 6.899174 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 286.047931 deg,
      new cmd heading: 284.314241 deg.

2021-08-14T01:25:53.654Z,1628904353.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:25:54.029Z,1628904354.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:25:54.029Z,1628904354.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:25:54.029Z,1628904354.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:25:54.030Z,1628904354.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:25:54.445Z,1628904354.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
213,000,00A78,187,80,80,9C,FF
2021-08-14T01:25:54.445Z,1628904354.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:25:54.445Z,1628904354.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:25:54.447Z,1628904354.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:25:54.845Z,1628904354.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:25:55.249Z,1628904355.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,00AA2,186,80,80,87,FF
2021-08-14T01:25:55.249Z,1628904355.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:25:55.705Z,1628904355.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012555.51*5C

2021-08-14T01:25:55.794Z,1628904355.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.820000 m, bearing: 291.761448 deg, deltaT: 4.385253 s, approachRate: 0.574654 m/s, LOS rate: 13.735841 deg/s, posRepo size: 4
2021-08-14T01:25:55.795Z,1628904355.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.735841 deg/s. Setting heading cmd to target bearing of 291.761448deg and heading rate command to 0 deg/s.
2021-08-14T01:25:58.111Z,1628904358.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:25:58.489Z,1628904358.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:25:58.489Z,1628904358.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:25:58.489Z,1628904358.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:25:58.490Z,1628904358.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:25:58.882Z,1628904358.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,00AA2,186,80,80,87,FF
2021-08-14T01:25:58.882Z,1628904358.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:25:58.882Z,1628904358.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:25:58.884Z,1628904358.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:25:59.306Z,1628904359.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:25:59.689Z,1628904359.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,00ACE,185,80,80,9E,FF
2021-08-14T01:25:59.689Z,1628904359.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:26:00.134Z,1628904360.134 [Micromodem](INFO): Nmea in: $SNTTA,0.175560,,,,012559.94*47

2021-08-14T01:26:00.230Z,1628904360.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.459991 m, bearing: 298.344029 deg, deltaT: 4.413277 s, approachRate: 0.598193 m/s, LOS rate: 1.491540 deg/s, posRepo size: 4
2021-08-14T01:26:00.236Z,1628904360.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.459991 m,
      bearing: 298.344029 deg,
      approachRate: 0.598193 m/s,
      LOS rate: 1.491540 deg/s,
      cmd update: 4.474621 deg/s,
      cmd heading: 291.761448 deg,
      new cmd heading: 291.761448 deg.

2021-08-14T01:26:02.578Z,1628904362.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:02.917Z,1628904362.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:26:02.917Z,1628904362.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:26:02.917Z,1628904362.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:26:02.918Z,1628904362.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:26:03.333Z,1628904363.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,00ACE,185,80,80,9E,FF
2021-08-14T01:26:03.334Z,1628904363.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:26:03.334Z,1628904363.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:26:03.336Z,1628904363.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:26:03.747Z,1628904363.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:26:04.144Z,1628904364.144 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,316,000,00AFE,189,80,80,7D,FF
2021-08-14T01:26:04.145Z,1628904364.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:26:04.573Z,1628904364.573 [Micromodem](INFO): Nmea in: $SNTTA,0.234173,,,,012604.40*45

2021-08-14T01:26:04.620Z,1628904364.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.339996 m, bearing: 270.878008 deg, deltaT: 4.527149 s, approachRate: 0.636163 m/s, LOS rate: -6.066958 deg/s, posRepo size: 4
2021-08-14T01:26:04.622Z,1628904364.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.339996 m,
      bearing: 270.878008 deg,
      approachRate: 0.636163 m/s,
      LOS rate: -6.066958 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 311.974131 deg,
      new cmd heading: 313.747965 deg.

2021-08-14T01:26:06.998Z,1628904366.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:07.367Z,1628904367.367 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:26:07.367Z,1628904367.367 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:26:07.367Z,1628904367.367 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:26:07.369Z,1628904367.369 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:26:07.779Z,1628904367.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
316,000,00AFE,189,80,80,7D,FF
2021-08-14T01:26:07.779Z,1628904367.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:26:07.779Z,1628904367.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:26:07.781Z,1628904367.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:26:08.230Z,1628904368.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:26:08.582Z,1628904368.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,00B2A,188,80,80,84,FF
2021-08-14T01:26:08.582Z,1628904368.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:26:09.021Z,1628904369.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012608.84*5F

2021-08-14T01:26:09.047Z,1628904369.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.980011 m, bearing: 282.566155 deg, deltaT: 4.390470 s, approachRate: 0.601306 m/s, LOS rate: 2.662163 deg/s, posRepo size: 4
2021-08-14T01:26:09.049Z,1628904369.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.980011 m,
      bearing: 282.566155 deg,
      approachRate: 0.601306 m/s,
      LOS rate: 2.662163 deg/s,
      cmd update: 7.986489 deg/s,
      cmd heading: 259.171862 deg,
      new cmd heading: 254.092178 deg.

2021-08-14T01:26:11.467Z,1628904371.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:11.821Z,1628904371.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:26:11.821Z,1628904371.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:26:11.821Z,1628904371.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:26:11.822Z,1628904371.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:26:12.270Z,1628904372.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,00B2A,188,80,80,84,FF
2021-08-14T01:26:12.270Z,1628904372.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:26:12.271Z,1628904372.271 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:26:12.273Z,1628904372.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:26:12.621Z,1628904372.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:26:13.435Z,1628904373.435 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,00B5F,186,80,80,8F,FF
2021-08-14T01:26:13.436Z,1628904373.436 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:26:13.445Z,1628904373.445 [Micromodem](INFO): Nmea in: $SNTTA,0.093384,,,,012613.34*45

2021-08-14T01:26:13.912Z,1628904373.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.160004 m, bearing: 309.095867 deg, deltaT: 4.889843 s, approachRate: 0.650326 m/s, LOS rate: 5.425473 deg/s, posRepo size: 4
2021-08-14T01:26:13.914Z,1628904373.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.160004 m,
      bearing: 309.095867 deg,
      approachRate: 0.650326 m/s,
      LOS rate: 5.425473 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 298.092722 deg,
      new cmd heading: 301.375433 deg.

2021-08-14T01:26:16.376Z,1628904376.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:16.653Z,1628904376.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:26:16.653Z,1628904376.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:26:16.653Z,1628904376.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:26:16.654Z,1628904376.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:26:17.065Z,1628904377.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,00B5F,186,80,80,8F,FF
2021-08-14T01:26:17.065Z,1628904377.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:26:17.065Z,1628904377.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:26:17.067Z,1628904377.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:26:17.470Z,1628904377.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:26:17.879Z,1628904377.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,205,000,00B95,187,80,80,4C,FF
2021-08-14T01:26:17.879Z,1628904377.879 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:26:18.325Z,1628904378.325 [Micromodem](INFO): Nmea in: $SNTTA,0.406364,,,,012618.13*4D

2021-08-14T01:26:18.387Z,1628904378.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.400009 m, bearing: 265.196411 deg, deltaT: 4.399691 s, approachRate: 0.736417 m/s, LOS rate: -9.977850 deg/s, posRepo size: 4
2021-08-14T01:26:18.389Z,1628904378.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.400009 m,
      bearing: 265.196411 deg,
      approachRate: 0.736417 m/s,
      LOS rate: -9.977850 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 351.059536 deg,
      new cmd heading: 356.771500 deg.

2021-08-14T01:26:20.761Z,1628904380.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:21.105Z,1628904381.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:26:21.105Z,1628904381.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:26:21.105Z,1628904381.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:26:21.106Z,1628904381.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:26:21.517Z,1628904381.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
205,000,00B95,187,80,80,4C,FF
2021-08-14T01:26:21.517Z,1628904381.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:26:21.517Z,1628904381.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:26:21.519Z,1628904381.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:26:21.917Z,1628904381.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:26:22.774Z,1628904382.774 [Micromodem](INFO): Nmea in: $SNTTA,0.235594,,,,012622.58*44

2021-08-14T01:26:23.577Z,1628904383.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:25.153Z,1628904385.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,4C,FF
2021-08-14T01:26:25.154Z,1628904385.154 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,4C,FF
2021-08-14T01:26:25.154Z,1628904385.154 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:26:26.407Z,1628904386.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:26.782Z,1628904386.782 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:26:26.782Z,1628904386.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:26:26.782Z,1628904386.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:26:26.783Z,1628904386.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:26:27.165Z,1628904387.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,4C,FF
2021-08-14T01:26:27.165Z,1628904387.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:26:27.165Z,1628904387.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:26:27.167Z,1628904387.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:26:27.568Z,1628904387.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:26:27.978Z,1628904387.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,00C14,187,80,80,2F,FF
2021-08-14T01:26:27.978Z,1628904387.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:26:28.397Z,1628904388.397 [Micromodem](INFO): Nmea in: $SNTTA,0.099955,0.451552,,,012628.23*5B

2021-08-14T01:26:28.443Z,1628904388.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.020004 m, bearing: 335.012719 deg, deltaT: 10.128297 s, approachRate: 0.752347 m/s, LOS rate: 6.893193 deg/s, posRepo size: 4
2021-08-14T01:26:28.445Z,1628904388.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.020004 m,
      bearing: 335.012719 deg,
      approachRate: 0.752347 m/s,
      LOS rate: 6.893193 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 229.591861 deg,
      new cmd heading: 224.667672 deg.

2021-08-14T01:26:30.009Z,1628904390.009 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:26:30.888Z,1628904390.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:31.208Z,1628904391.208 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:26:31.209Z,1628904391.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:26:31.209Z,1628904391.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:26:31.209Z,1628904391.209 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:26:31.606Z,1628904391.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,00C14,187,80,80,2F,FF
2021-08-14T01:26:31.606Z,1628904391.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:26:31.606Z,1628904391.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:26:31.608Z,1628904391.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:26:32.017Z,1628904392.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:26:32.426Z,1628904392.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA0,000,0069A,186,80,80,89,FF
2021-08-14T01:26:32.426Z,1628904392.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:26:32.430Z,1628904392.430 [Micromodem](INFO): Nmea in: $SNTTA,0.190569,0.192382,,,012632.67*5A

2021-08-14T01:26:32.867Z,1628904392.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.899998 m, bearing: 326.641475 deg, deltaT: 4.447549 s, approachRate: -18.913790 m/s, LOS rate: -1.882215 deg/s, posRepo size: 4
2021-08-14T01:26:32.869Z,1628904392.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.899998 m,
      bearing: 326.641475 deg,
      approachRate: -18.913790 m/s,
      LOS rate: -1.882215 deg/s,
      cmd update: -5.646645 deg/s,
      cmd heading: 282.773126 deg,
      new cmd heading: 287.599742 deg.

2021-08-14T01:26:35.271Z,1628904395.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:35.649Z,1628904395.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:26:35.649Z,1628904395.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:26:35.649Z,1628904395.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:26:35.650Z,1628904395.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:26:36.057Z,1628904396.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA0,000,0069A,186,80,80,89,FF
2021-08-14T01:26:36.057Z,1628904396.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:26:36.057Z,1628904396.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:26:36.059Z,1628904396.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:26:36.471Z,1628904396.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:26:37.290Z,1628904397.290 [Micromodem](INFO): Nmea in: $SNTTA,0.007230,,,,012637.12*44

2021-08-14T01:26:38.110Z,1628904398.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:39.693Z,1628904399.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,89,FF
2021-08-14T01:26:39.693Z,1628904399.693 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,89,FF
2021-08-14T01:26:39.693Z,1628904399.693 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:26:40.962Z,1628904400.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:41.305Z,1628904401.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:26:41.305Z,1628904401.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:26:41.305Z,1628904401.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:26:41.306Z,1628904401.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:26:41.725Z,1628904401.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,89,FF
2021-08-14T01:26:41.725Z,1628904401.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:26:41.725Z,1628904401.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:26:41.727Z,1628904401.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:26:42.127Z,1628904402.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:26:42.522Z,1628904402.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,125,000,00CAA,186,80,80,89,FF
2021-08-14T01:26:42.523Z,1628904402.523 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:26:42.949Z,1628904402.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012642.79*53

2021-08-14T01:26:42.991Z,1628904402.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.019989 m, bearing: 256.718561 deg, deltaT: 10.108192 s, approachRate: 9.212330 m/s, LOS rate: -6.917450 deg/s, posRepo size: 4
2021-08-14T01:26:42.997Z,1628904402.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.019989 m,
      bearing: 256.718561 deg,
      approachRate: 9.212330 m/s,
      LOS rate: -6.917450 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 225.605064 deg,
      new cmd heading: 223.337021 deg.

2021-08-14T01:26:45.389Z,1628904405.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:45.781Z,1628904405.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:26:45.781Z,1628904405.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:26:45.781Z,1628904405.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:26:45.782Z,1628904405.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:26:46.181Z,1628904406.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
125,000,00CAA,186,80,80,89,FF
2021-08-14T01:26:46.182Z,1628904406.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:26:46.182Z,1628904406.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:26:46.197Z,1628904406.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:26:46.568Z,1628904406.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:26:47.373Z,1628904407.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34C,000,00CCE,188,80,80,B9,FF
2021-08-14T01:26:47.374Z,1628904407.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:26:47.404Z,1628904407.404 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012647.26*5C

2021-08-14T01:26:47.823Z,1628904407.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.179993 m, bearing: 209.589122 deg, deltaT: 4.843804 s, approachRate: 0.445931 m/s, LOS rate: -9.729840 deg/s, posRepo size: 4
2021-08-14T01:26:47.826Z,1628904407.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.179993 m,
      bearing: 209.589122 deg,
      approachRate: 0.445931 m/s,
      LOS rate: -9.729840 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 167.483591 deg,
      new cmd heading: 162.791003 deg.

2021-08-14T01:26:50.266Z,1628904410.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:50.597Z,1628904410.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:26:50.597Z,1628904410.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:26:50.597Z,1628904410.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:26:50.598Z,1628904410.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:26:51.006Z,1628904411.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34C,000,00CCE,188,80,80,B9,FF
2021-08-14T01:26:51.006Z,1628904411.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:26:51.006Z,1628904411.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:26:51.008Z,1628904411.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:26:51.431Z,1628904411.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:26:51.822Z,1628904411.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,116,000,00CF1,186,80,80,B9,FF
2021-08-14T01:26:51.822Z,1628904411.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:26:52.269Z,1628904412.269 [Micromodem](INFO): Nmea in: $SNTTA,0.109840,,,,012652.07*41

2021-08-14T01:26:52.328Z,1628904412.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.280014 m, bearing: 221.137770 deg, deltaT: 4.437806 s, approachRate: 0.473212 m/s, LOS rate: 2.602333 deg/s, posRepo size: 4
2021-08-14T01:26:52.330Z,1628904412.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.280014 m,
      bearing: 221.137770 deg,
      approachRate: 0.473212 m/s,
      LOS rate: 2.602333 deg/s,
      cmd update: 7.806998 deg/s,
      cmd heading: 114.130401 deg,
      new cmd heading: 108.780609 deg.

2021-08-14T01:26:54.679Z,1628904414.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:55.045Z,1628904415.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:26:55.045Z,1628904415.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:26:55.045Z,1628904415.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:26:55.046Z,1628904415.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:26:55.450Z,1628904415.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
116,000,00CF1,186,80,80,B9,FF
2021-08-14T01:26:55.450Z,1628904415.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:26:55.450Z,1628904415.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:26:55.451Z,1628904415.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:26:55.853Z,1628904415.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:26:56.284Z,1628904416.284 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,00D04,186,80,80,68,FF
2021-08-14T01:26:56.284Z,1628904416.284 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:26:56.702Z,1628904416.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012656.51*5C

2021-08-14T01:26:56.728Z,1628904416.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.419998 m, bearing: 209.816103 deg, deltaT: 4.462199 s, approachRate: 0.255476 m/s, LOS rate: -2.537239 deg/s, posRepo size: 4
2021-08-14T01:26:56.730Z,1628904416.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.419998 m,
      bearing: 209.816103 deg,
      approachRate: 0.255476 m/s,
      LOS rate: -2.537239 deg/s,
      cmd update: -7.611718 deg/s,
      cmd heading: 148.809588 deg,
      new cmd heading: 151.988808 deg.

2021-08-14T01:26:59.121Z,1628904419.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:26:59.497Z,1628904419.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:26:59.497Z,1628904419.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:26:59.497Z,1628904419.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:26:59.498Z,1628904419.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:26:59.893Z,1628904419.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,00D04,186,80,80,68,FF
2021-08-14T01:26:59.893Z,1628904419.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:26:59.893Z,1628904419.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:26:59.895Z,1628904419.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:27:00.312Z,1628904420.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:27:00.712Z,1628904420.712 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D0A,189,80,80,68,FF
2021-08-14T01:27:00.713Z,1628904420.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:27:01.149Z,1628904421.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012700.96*55

2021-08-14T01:27:01.198Z,1628904421.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.780014 m, bearing: 138.303462 deg, deltaT: 4.437498 s, approachRate: 0.081130 m/s, LOS rate: -16.115533 deg/s, posRepo size: 4
2021-08-14T01:27:01.199Z,1628904421.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.115533 deg/s. Setting heading cmd to target bearing of 138.303462deg and heading rate command to 0 deg/s.
2021-08-14T01:27:03.558Z,1628904423.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:03.938Z,1628904423.938 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:27:03.938Z,1628904423.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:27:03.938Z,1628904423.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:27:03.939Z,1628904423.939 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:27:04.364Z,1628904424.364 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D0A,189,80,80,68,FF
2021-08-14T01:27:04.364Z,1628904424.364 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:27:04.364Z,1628904424.364 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:27:04.367Z,1628904424.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:27:04.775Z,1628904424.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:27:05.154Z,1628904425.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D0A,189,80,80,68,FF
2021-08-14T01:27:05.155Z,1628904425.155 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:27:05.566Z,1628904425.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012705.43*58

2021-08-14T01:27:05.678Z,1628904425.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.780014 m, bearing: 120.935726 deg, deltaT: 4.438362 s, approachRate: 0.000000 m/s, LOS rate: -3.913096 deg/s, posRepo size: 4
2021-08-14T01:27:05.684Z,1628904425.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.780014 m,
      bearing: 120.935726 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.913096 deg/s,
      cmd update: -11.739289 deg/s,
      cmd heading: 138.303462 deg,
      new cmd heading: 138.303462 deg.

2021-08-14T01:27:08.021Z,1628904428.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:08.390Z,1628904428.390 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:27:08.390Z,1628904428.390 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:27:08.390Z,1628904428.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:27:08.391Z,1628904428.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:27:08.813Z,1628904428.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D0A,189,80,80,68,FF
2021-08-14T01:27:08.813Z,1628904428.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:27:08.813Z,1628904428.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:27:08.815Z,1628904428.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:27:09.275Z,1628904429.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:27:09.658Z,1628904429.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D05,189,80,80,BC,FF
2021-08-14T01:27:09.658Z,1628904429.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:27:10.077Z,1628904430.077 [Micromodem](INFO): Nmea in: $SNTTA,0.107964,,,,012709.88*40

2021-08-14T01:27:10.125Z,1628904430.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.480011 m, bearing: 103.946416 deg, deltaT: 4.457621 s, approachRate: -0.067301 m/s, LOS rate: -3.811296 deg/s, posRepo size: 4
2021-08-14T01:27:10.127Z,1628904430.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.480011 m,
      bearing: 103.946416 deg,
      approachRate: -0.067301 m/s,
      LOS rate: -3.811296 deg/s,
      cmd update: -11.433887 deg/s,
      cmd heading: 85.875177 deg,
      new cmd heading: 80.590501 deg.

2021-08-14T01:27:12.546Z,1628904432.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:12.894Z,1628904432.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:27:12.894Z,1628904432.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:27:12.894Z,1628904432.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:27:12.895Z,1628904432.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:27:13.293Z,1628904433.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D05,189,80,80,BC,FF
2021-08-14T01:27:13.293Z,1628904433.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:27:13.293Z,1628904433.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:27:13.295Z,1628904433.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:27:13.705Z,1628904433.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:27:14.105Z,1628904434.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,369,000,005F7,18A,80,80,C1,FF
2021-08-14T01:27:14.105Z,1628904434.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:27:14.521Z,1628904434.521 [Micromodem](INFO): Nmea in: $SNTTA,0.109284,0.346722,,,012714.36*5A

2021-08-14T01:27:14.563Z,1628904434.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.120003 m, bearing: 107.249283 deg, deltaT: 4.559888 s, approachRate: -23.763742 m/s, LOS rate: 0.724331 deg/s, posRepo size: 4
2021-08-14T01:27:14.565Z,1628904434.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.120003 m,
      bearing: 107.249283 deg,
      approachRate: -23.763742 m/s,
      LOS rate: 0.724331 deg/s,
      cmd update: 2.172993 deg/s,
      cmd heading: 33.919389 deg,
      new cmd heading: 29.978254 deg.

2021-08-14T01:27:16.966Z,1628904436.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:17.338Z,1628904437.338 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:27:17.338Z,1628904437.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:27:17.338Z,1628904437.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:27:17.339Z,1628904437.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:27:17.752Z,1628904437.752 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
369,000,005F7,18A,80,80,C1,FF
2021-08-14T01:27:17.753Z,1628904437.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:27:17.753Z,1628904437.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:27:17.763Z,1628904437.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:27:18.146Z,1628904438.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:27:18.555Z,1628904438.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,005F7,18A,80,80,C1,FF
2021-08-14T01:27:18.555Z,1628904438.555 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:27:18.970Z,1628904438.970 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012718.83*58

2021-08-14T01:27:19.016Z,1628904439.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.120003 m, bearing: 106.635297 deg, deltaT: 4.393619 s, approachRate: 0.000000 m/s, LOS rate: -0.139745 deg/s, posRepo size: 4
2021-08-14T01:27:19.018Z,1628904439.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.120003 m,
      bearing: 106.635297 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.139745 deg/s,
      cmd update: -0.419235 deg/s,
      cmd heading: 43.492328 deg,
      new cmd heading: 44.326046 deg.

2021-08-14T01:27:21.407Z,1628904441.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:21.790Z,1628904441.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:27:21.790Z,1628904441.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:27:21.790Z,1628904441.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:27:21.791Z,1628904441.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:27:22.190Z,1628904442.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F2,000,005F7,18A,80,80,C1,FF
2021-08-14T01:27:22.190Z,1628904442.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:27:22.191Z,1628904442.191 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:27:22.215Z,1628904442.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:27:22.600Z,1628904442.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:27:22.987Z,1628904442.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,005F7,18A,80,80,C1,FF
2021-08-14T01:27:22.987Z,1628904442.987 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:27:23.421Z,1628904443.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012723.28*51

2021-08-14T01:27:23.448Z,1628904443.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.120003 m, bearing: 110.732393 deg, deltaT: 4.441342 s, approachRate: 0.000000 m/s, LOS rate: 0.922490 deg/s, posRepo size: 4
2021-08-14T01:27:23.450Z,1628904443.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.120003 m,
      bearing: 110.732393 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.922490 deg/s,
      cmd update: 2.767471 deg/s,
      cmd heading: 41.629799 deg,
      new cmd heading: 41.470047 deg.

2021-08-14T01:27:25.869Z,1628904445.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:26.252Z,1628904446.252 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:27:26.252Z,1628904446.252 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:27:26.253Z,1628904446.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:27:26.253Z,1628904446.253 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:27:26.630Z,1628904446.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,005F7,18A,80,80,C1,FF
2021-08-14T01:27:26.631Z,1628904446.631 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:27:26.631Z,1628904446.631 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:27:26.633Z,1628904446.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:27:27.033Z,1628904447.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:27:27.438Z,1628904447.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00C4B,186,80,80,C1,FF
2021-08-14T01:27:27.438Z,1628904447.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:27:27.869Z,1628904447.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012727.69*50

2021-08-14T01:27:27.919Z,1628904447.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.320007 m, bearing: 110.964442 deg, deltaT: 4.387957 s, approachRate: 22.151541 m/s, LOS rate: 0.052883 deg/s, posRepo size: 4
2021-08-14T01:27:27.922Z,1628904447.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.320007 m,
      bearing: 110.964442 deg,
      approachRate: 22.151541 m/s,
      LOS rate: 0.052883 deg/s,
      cmd update: 0.158649 deg/s,
      cmd heading: 53.780103 deg,
      new cmd heading: 55.060141 deg.

2021-08-14T01:27:30.392Z,1628904450.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:30.665Z,1628904450.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:27:30.665Z,1628904450.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:27:30.666Z,1628904450.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:27:30.667Z,1628904450.667 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:27:31.065Z,1628904451.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00C4B,186,80,80,C1,FF
2021-08-14T01:27:31.065Z,1628904451.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:27:31.065Z,1628904451.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:27:31.067Z,1628904451.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:27:31.473Z,1628904451.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:27:31.878Z,1628904451.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,00C1D,189,80,80,BB,FF
2021-08-14T01:27:31.878Z,1628904451.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:27:32.317Z,1628904452.317 [Micromodem](INFO): Nmea in: $SNTTA,,0.462044,,,012732.13*47

2021-08-14T01:27:32.378Z,1628904452.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.559998 m, bearing: 115.554069 deg, deltaT: 4.488185 s, approachRate: -0.614950 m/s, LOS rate: 1.022602 deg/s, posRepo size: 4
2021-08-14T01:27:32.396Z,1628904452.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.559998 m,
      bearing: 115.554069 deg,
      approachRate: -0.614950 m/s,
      LOS rate: 1.022602 deg/s,
      cmd update: 3.067806 deg/s,
      cmd heading: 54.486686 deg,
      new cmd heading: 54.560810 deg.

2021-08-14T01:27:34.723Z,1628904454.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:35.110Z,1628904455.110 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:27:35.110Z,1628904455.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:27:35.111Z,1628904455.111 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:27:35.112Z,1628904455.112 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:27:35.509Z,1628904455.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,00C1D,189,80,80,BB,FF
2021-08-14T01:27:35.509Z,1628904455.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:27:35.509Z,1628904455.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:27:35.511Z,1628904455.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:27:35.941Z,1628904455.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:27:36.342Z,1628904456.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B6E,000,00BFC,189,80,80,B6,FF
2021-08-14T01:27:36.343Z,1628904456.343 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:27:36.348Z,1628904456.348 [Micromodem](INFO): Nmea in: $SNTTA,0.279082,0.278975,,,012736.57*5D

2021-08-14T01:27:36.805Z,1628904456.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.580002 m, bearing: 126.125003 deg, deltaT: 4.477427 s, approachRate: -0.442217 m/s, LOS rate: 2.360939 deg/s, posRepo size: 4
2021-08-14T01:27:36.813Z,1628904456.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.580002 m,
      bearing: 126.125003 deg,
      approachRate: -0.442217 m/s,
      LOS rate: 2.360939 deg/s,
      cmd update: 7.082818 deg/s,
      cmd heading: 68.316529 deg,
      new cmd heading: 69.482762 deg.

2021-08-14T01:27:39.167Z,1628904459.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:39.561Z,1628904459.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:27:39.561Z,1628904459.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:27:39.561Z,1628904459.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:27:39.562Z,1628904459.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:27:39.957Z,1628904459.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B6E,000,00BFC,189,80,80,B6,FF
2021-08-14T01:27:39.957Z,1628904459.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:27:39.957Z,1628904459.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:27:39.959Z,1628904459.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:27:40.404Z,1628904460.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:27:40.817Z,1628904460.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C1B,000,00BDA,189,80,80,C3,FF
2021-08-14T01:27:40.817Z,1628904460.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:27:41.226Z,1628904461.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.539993 m, bearing: 115.945398 deg, deltaT: 4.460569 s, approachRate: -0.457343 m/s, LOS rate: -2.282131 deg/s, posRepo size: 4
2021-08-14T01:27:41.229Z,1628904461.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.539993 m,
      bearing: 115.945398 deg,
      approachRate: -0.457343 m/s,
      LOS rate: -2.282131 deg/s,
      cmd update: -6.846394 deg/s,
      cmd heading: 99.748546 deg,
      new cmd heading: 102.368467 deg.

2021-08-14T01:27:43.659Z,1628904463.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:44.021Z,1628904464.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:27:44.021Z,1628904464.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:27:44.021Z,1628904464.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:27:44.022Z,1628904464.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:27:44.421Z,1628904464.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C1B,000,00BDA,189,80,80,C3,FF
2021-08-14T01:27:44.421Z,1628904464.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:27:44.421Z,1628904464.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:27:44.423Z,1628904464.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:27:46.490Z,1628904466.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:47.656Z,1628904467.656 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,092DA,188,80,80,A5,FF
2021-08-14T01:27:47.657Z,1628904467.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:27:48.098Z,1628904468.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2218.139893 m, bearing: 62.603274 deg, deltaT: 6.790814 s, approachRate: 305.353638 m/s, LOS rate: -7.855041 deg/s, posRepo size: 4
2021-08-14T01:27:48.100Z,1628904468.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2218.139893 m,
      bearing: 62.603274 deg,
      approachRate: 305.353638 m/s,
      LOS rate: -7.855041 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 53.071932 deg,
      new cmd heading: 50.170054 deg.

2021-08-14T01:27:50.533Z,1628904470.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:50.889Z,1628904470.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:27:50.889Z,1628904470.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:27:50.889Z,1628904470.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:27:50.890Z,1628904470.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:27:51.297Z,1628904471.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,092DA,188,80,80,A5,FF
2021-08-14T01:27:51.297Z,1628904471.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:27:51.297Z,1628904471.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:27:53.337Z,1628904473.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:54.121Z,1628904474.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,188,80,80,A5,FF
2021-08-14T01:27:54.121Z,1628904474.121 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,188,80,80,A5,FF
2021-08-14T01:27:54.121Z,1628904474.121 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:27:55.754Z,1628904475.754 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:27:56.219Z,1628904476.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:56.541Z,1628904476.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:27:56.541Z,1628904476.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:27:56.541Z,1628904476.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:27:56.542Z,1628904476.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:27:56.945Z,1628904476.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,188,80,80,A5,FF
2021-08-14T01:27:56.945Z,1628904476.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:27:56.945Z,1628904476.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:27:58.994Z,1628904478.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:27:59.801Z,1628904479.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,188,80,80,A5,FF
2021-08-14T01:27:59.801Z,1628904479.801 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,188,80,80,A5,FF
2021-08-14T01:27:59.801Z,1628904479.801 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:28:01.853Z,1628904481.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:02.223Z,1628904482.223 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:28:02.228Z,1628904482.228 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:28:02.228Z,1628904482.228 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:28:02.229Z,1628904482.229 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:28:02.598Z,1628904482.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,188,80,80,A5,FF
2021-08-14T01:28:02.598Z,1628904482.598 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:28:02.598Z,1628904482.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:28:04.643Z,1628904484.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:05.025Z,1628904485.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,060D5,188,80,80,C0,FF
2021-08-14T01:28:05.026Z,1628904485.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:28:05.468Z,1628904485.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1449.839966 m, bearing: 58.743452 deg, deltaT: 17.378658 s, approachRate: -44.209393 m/s, LOS rate: -0.222101 deg/s, posRepo size: 4
2021-08-14T01:28:05.470Z,1628904485.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1449.839966 m,
      bearing: 58.743452 deg,
      approachRate: -44.209393 m/s,
      LOS rate: -0.222101 deg/s,
      cmd update: -0.666304 deg/s,
      cmd heading: 204.531210 deg,
      new cmd heading: 199.548881 deg.

2021-08-14T01:28:07.064Z,1628904487.064 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:28:07.067Z,1628904487.067 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-14T01:28:07.067Z,1628904487.067 [Micromodem] Hardware Fault, FailCount= 1
2021-08-14T01:28:07.068Z,1628904487.068 [Micromodem](ERROR): Hardware Fault
2021-08-14T01:28:07.170Z,1628904487.170 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T01:28:07.170Z,1628904487.170 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T01:28:07.170Z,1628904487.170 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T01:28:07.170Z,1628904487.170 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T01:28:07.170Z,1628904487.170 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T01:28:07.248Z,1628904487.248 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-14T01:28:07.504Z,1628904487.504 [Micromodem](INFO): Powering down
2021-08-14T01:28:07.638Z,1628904487.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:07.901Z,1628904487.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:28:07.901Z,1628904487.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:28:07.901Z,1628904487.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:28:07.902Z,1628904487.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:28:07.906Z,1628904487.906 [Micromodem](FAULT): LCB 1 fault:  Software Overcurrent.
2021-08-14T01:28:07.908Z,1628904487.908 [Micromodem](FAULT): LCB 2 fault:  Hardware Overcurrent Shutdown. Software Overcurrent.
2021-08-14T01:28:08.307Z,1628904488.307 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,060D5,188,80,80,C0,FF
2021-08-14T01:28:08.308Z,1628904488.308 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:28:08.308Z,1628904488.308 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:28:08.503Z,1628904488.503 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-14T01:28:08.504Z,1628904488.504 [Micromodem] No Fault, FailCount= 1
2021-08-14T01:28:10.383Z,1628904490.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:11.130Z,1628904491.130 [Micromodem](INFO): Powering up
2021-08-14T01:28:11.130Z,1628904491.130 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-14T01:28:13.198Z,1628904493.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:13.965Z,1628904493.965 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.062002
2021-08-14T01:28:14.789Z,1628904494.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,188,80,80,C0,FF
2021-08-14T01:28:14.790Z,1628904494.790 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,188,80,80,C0,FF
2021-08-14T01:28:14.790Z,1628904494.790 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:28:15.874Z,1628904495.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:16.081Z,1628904496.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:28:16.082Z,1628904496.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:28:16.082Z,1628904496.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:28:16.082Z,1628904496.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:28:16.469Z,1628904496.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,188,80,80,C0,FF
2021-08-14T01:28:16.469Z,1628904496.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:28:16.469Z,1628904496.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:28:16.471Z,1628904496.471 [Micromodem](INFO): Nmea in: $CATMG,2021-08-14T01:28:16.045226Z,RTC,RTC*57

2021-08-14T01:28:16.472Z,1628904496.472 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-14T01:28:16.045226Z,RTC,RTC*57

2021-08-14T01:28:18.083Z,1628904498.083 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:28:18.500Z,1628904498.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:28:18.512Z,1628904498.512 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-14T01:28:18.533Z,1628904498.533 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-14T01:28:18.534Z,1628904498.534 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T01:28:18.534Z,1628904498.534 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T01:28:18.574Z,1628904498.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:18.652Z,1628904498.652 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T01:28:18.893Z,1628904498.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,00B4C,184,80,80,93,FF
2021-08-14T01:28:18.894Z,1628904498.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:28:18.896Z,1628904498.896 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-14T01:28:18.897Z,1628904498.897 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-14T01:28:18.976Z,1628904498.976 [RDI_Pathfinder](INFO): Powering down
2021-08-14T01:28:19.329Z,1628904499.329 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-14T01:28:19.329Z,1628904499.329 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-14T01:28:19.403Z,1628904499.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.020004 m, bearing: 22.240807 deg, deltaT: 13.961005 s, approachRate: -94.106400 m/s, LOS rate: -2.614614 deg/s, posRepo size: 4
2021-08-14T01:28:19.409Z,1628904499.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.020004 m,
      bearing: 22.240807 deg,
      approachRate: -94.106400 m/s,
      LOS rate: -2.614614 deg/s,
      cmd update: -7.843843 deg/s,
      cmd heading: 195.230424 deg,
      new cmd heading: 194.969724 deg.

2021-08-14T01:28:19.740Z,1628904499.740 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012819.15*59

2021-08-14T01:28:19.741Z,1628904499.741 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,,,,,012819.15*59

2021-08-14T01:28:20.184Z,1628904500.184 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T01:28:20.184Z,1628904500.184 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T01:28:21.053Z,1628904501.053 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-14T01:28:21.053Z,1628904501.053 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-14T01:28:21.448Z,1628904501.448 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-14T01:28:21.448Z,1628904501.448 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-14T01:28:21.532Z,1628904501.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:21.849Z,1628904501.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:28:21.849Z,1628904501.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:28:21.849Z,1628904501.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:28:21.850Z,1628904501.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:28:21.856Z,1628904501.856 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-14T01:28:21.857Z,1628904501.857 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-14T01:28:22.369Z,1628904502.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,00B4C,184,80,80,93,FF
2021-08-14T01:28:22.369Z,1628904502.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:28:22.369Z,1628904502.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:28:22.371Z,1628904502.371 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-14T01:28:22.372Z,1628904502.372 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-14T01:28:22.794Z,1628904502.794 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-14T01:28:22.794Z,1628904502.794 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-14T01:28:22.855Z,1628904502.855 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for altitude
2021-08-14T01:28:23.162Z,1628904503.162 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-14T01:28:23.162Z,1628904503.162 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,14,01,28,24*45

2021-08-14T01:28:23.560Z,1628904503.560 [Micromodem](INFO): Nmea in: $CACLK,2021,8,14,1,28,24*47

2021-08-14T01:28:23.561Z,1628904503.561 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T003940/Courier0025.lzma.parts
2021-08-14T01:28:23.561Z,1628904503.561 [Micromodem](INFO): Packets left to send: 0
2021-08-14T01:28:23.586Z,1628904503.586 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T01:28:23.586Z,1628904503.586 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T01:28:23.586Z,1628904503.586 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T01:28:23.586Z,1628904503.586 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T01:28:23.586Z,1628904503.586 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T01:28:24.367Z,1628904504.367 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-14T01:28:25Z*76

2021-08-14T01:28:24.370Z,1628904504.370 [Micromodem](INFO): Nmea in: $CATMG,2021-08-14T01:28:25.027451Z,USER_CMD,RTC*14

2021-08-14T01:28:24.387Z,1628904504.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:27.234Z,1628904507.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:28.016Z,1628904508.016 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.165871
2021-08-14T01:28:30.050Z,1628904510.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:30.442Z,1628904510.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:28:30.442Z,1628904510.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:28:30.442Z,1628904510.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:28:30.443Z,1628904510.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:28:30.833Z,1628904510.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,00B4C,184,80,80,93,FF
2021-08-14T01:28:30.834Z,1628904510.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:28:30.834Z,1628904510.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:28:30.835Z,1628904510.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:28:31.257Z,1628904511.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:28:31.645Z,1628904511.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B32,000,00B58,18A,80,80,AA,FF
2021-08-14T01:28:31.646Z,1628904511.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:28:32.077Z,1628904512.077 [Micromodem](INFO): Nmea in: $SNTTA,0.093236,,,,012831.90*4D

2021-08-14T01:28:32.114Z,1628904512.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.740005 m, bearing: 118.543001 deg, deltaT: 12.681201 s, approachRate: 0.056777 m/s, LOS rate: 7.594091 deg/s, posRepo size: 4
2021-08-14T01:28:32.116Z,1628904512.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.740005 m,
      bearing: 118.543001 deg,
      approachRate: 0.056777 m/s,
      LOS rate: 7.594091 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 95.774926 deg,
      new cmd heading: 92.459185 deg.

2021-08-14T01:28:34.518Z,1628904514.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:34.865Z,1628904514.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:28:34.865Z,1628904514.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:28:34.865Z,1628904514.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:28:34.866Z,1628904514.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:28:35.283Z,1628904515.283 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B32,000,00B58,18A,80,80,AA,FF
2021-08-14T01:28:35.283Z,1628904515.283 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:28:35.283Z,1628904515.283 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:28:35.315Z,1628904515.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:28:35.677Z,1628904515.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:28:36.886Z,1628904516.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C32,000,02F87,188,80,80,BE,FF
2021-08-14T01:28:36.887Z,1628904516.887 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:28:36.892Z,1628904516.892 [Micromodem](INFO): Nmea in: $SNTTA,,0.394336,,,012836.38*4D

2021-08-14T01:28:37.354Z,1628904517.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 692.520020 m, bearing: 128.125169 deg, deltaT: 5.273077 s, approachRate: 105.399567 m/s, LOS rate: 1.817187 deg/s, posRepo size: 4
2021-08-14T01:28:37.362Z,1628904517.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 692.520020 m,
      bearing: 128.125169 deg,
      approachRate: 105.399567 m/s,
      LOS rate: 1.817187 deg/s,
      cmd update: 5.451562 deg/s,
      cmd heading: 159.053412 deg,
      new cmd heading: 163.660944 deg.

2021-08-14T01:28:39.783Z,1628904519.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:40.133Z,1628904520.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:28:40.133Z,1628904520.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:28:40.133Z,1628904520.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:28:40.134Z,1628904520.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:28:40.521Z,1628904520.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C32,000,02F87,188,80,80,BE,FF
2021-08-14T01:28:40.521Z,1628904520.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:28:40.521Z,1628904520.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:28:40.523Z,1628904520.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:28:40.945Z,1628904520.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:28:41.333Z,1628904521.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D45,000,00B1B,18A,80,80,76,FF
2021-08-14T01:28:41.334Z,1628904521.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:28:41.794Z,1628904521.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012841.58*5D

2021-08-14T01:28:41.848Z,1628904521.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.080002 m, bearing: 133.735336 deg, deltaT: 4.420185 s, approachRate: -126.564842 m/s, LOS rate: 1.269215 deg/s, posRepo size: 4
2021-08-14T01:28:41.850Z,1628904521.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.080002 m,
      bearing: 133.735336 deg,
      approachRate: -126.564842 m/s,
      LOS rate: 1.269215 deg/s,
      cmd update: 3.807646 deg/s,
      cmd heading: 183.150606 deg,
      new cmd heading: 185.676238 deg.

2021-08-14T01:28:44.207Z,1628904524.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:44.565Z,1628904524.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:28:44.565Z,1628904524.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:28:44.565Z,1628904524.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:28:44.566Z,1628904524.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:28:44.961Z,1628904524.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D45,000,00B1B,18A,80,80,76,FF
2021-08-14T01:28:44.961Z,1628904524.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:28:44.962Z,1628904524.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:28:44.963Z,1628904524.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:28:45.385Z,1628904525.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:28:45.807Z,1628904525.807 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,00AF3,186,80,80,BD,FF
2021-08-14T01:28:45.808Z,1628904525.808 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:28:46.222Z,1628904526.222 [Micromodem](INFO): Nmea in: $SNTTA,0.102303,,,,012846.03*49

2021-08-14T01:28:46.243Z,1628904526.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.680008 m, bearing: 134.260332 deg, deltaT: 4.494896 s, approachRate: -0.533938 m/s, LOS rate: 0.116798 deg/s, posRepo size: 4
2021-08-14T01:28:46.246Z,1628904526.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.680008 m,
      bearing: 134.260332 deg,
      approachRate: -0.533938 m/s,
      LOS rate: 0.116798 deg/s,
      cmd update: 0.350395 deg/s,
      cmd heading: 200.265689 deg,
      new cmd heading: 201.652407 deg.

2021-08-14T01:28:48.659Z,1628904528.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:49.009Z,1628904529.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:28:49.009Z,1628904529.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:28:49.010Z,1628904529.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:28:49.011Z,1628904529.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:28:49.413Z,1628904529.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,00AF3,186,80,80,BD,FF
2021-08-14T01:28:49.413Z,1628904529.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:28:49.413Z,1628904529.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:28:49.415Z,1628904529.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:28:49.825Z,1628904529.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:28:50.225Z,1628904530.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,00AC9,186,80,80,A7,FF
2021-08-14T01:28:50.225Z,1628904530.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:28:50.657Z,1628904530.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012850.48*5C

2021-08-14T01:28:50.765Z,1628904530.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.160004 m, bearing: 131.570849 deg, deltaT: 4.359173 s, approachRate: -0.578092 m/s, LOS rate: -0.616971 deg/s, posRepo size: 4
2021-08-14T01:28:50.773Z,1628904530.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.160004 m,
      bearing: 131.570849 deg,
      approachRate: -0.578092 m/s,
      LOS rate: -0.616971 deg/s,
      cmd update: -1.850913 deg/s,
      cmd heading: 201.794316 deg,
      new cmd heading: 201.973098 deg.

2021-08-14T01:28:53.101Z,1628904533.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:53.449Z,1628904533.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:28:53.449Z,1628904533.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:28:53.449Z,1628904533.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:28:53.450Z,1628904533.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:28:53.849Z,1628904533.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,00AC9,186,80,80,A7,FF
2021-08-14T01:28:53.849Z,1628904533.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:28:53.850Z,1628904533.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:28:53.851Z,1628904533.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:28:54.278Z,1628904534.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:28:54.665Z,1628904534.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,00A9C,189,80,80,A9,FF
2021-08-14T01:28:54.665Z,1628904534.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:28:55.109Z,1628904535.109 [Micromodem](INFO): Nmea in: $SNTTA,0.096218,,,,012854.91*46

2021-08-14T01:28:55.134Z,1628904535.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.459999 m, bearing: 124.380545 deg, deltaT: 4.534047 s, approachRate: -0.595496 m/s, LOS rate: -1.585847 deg/s, posRepo size: 4
2021-08-14T01:28:55.137Z,1628904535.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.459999 m,
      bearing: 124.380545 deg,
      approachRate: -0.595496 m/s,
      LOS rate: -1.585847 deg/s,
      cmd update: -4.757541 deg/s,
      cmd heading: 193.456514 deg,
      new cmd heading: 192.738347 deg.

2021-08-14T01:28:56.693Z,1628904536.693 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T01:28:57.506Z,1628904537.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:28:57.893Z,1628904537.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:28:57.893Z,1628904537.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:28:57.893Z,1628904537.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:28:57.894Z,1628904537.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:28:58.319Z,1628904538.319 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,00A9C,189,80,80,A9,FF
2021-08-14T01:28:58.319Z,1628904538.319 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:28:58.320Z,1628904538.320 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:28:58.327Z,1628904538.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:28:58.704Z,1628904538.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:28:59.118Z,1628904539.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,425,000,00A77,189,80,80,B9,FF
2021-08-14T01:28:59.118Z,1628904539.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:28:59.539Z,1628904539.539 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012859.40*5D

2021-08-14T01:28:59.565Z,1628904539.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.240005 m, bearing: 122.408369 deg, deltaT: 4.397248 s, approachRate: -0.504860 m/s, LOS rate: -0.448502 deg/s, posRepo size: 4
2021-08-14T01:28:59.567Z,1628904539.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.240005 m,
      bearing: 122.408369 deg,
      approachRate: -0.504860 m/s,
      LOS rate: -0.448502 deg/s,
      cmd update: -1.345507 deg/s,
      cmd heading: 172.412932 deg,
      new cmd heading: 170.553794 deg.

2021-08-14T01:29:01.989Z,1628904541.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:29:02.383Z,1628904542.383 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:29:02.383Z,1628904542.383 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:29:02.383Z,1628904542.383 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:29:02.384Z,1628904542.384 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:29:02.765Z,1628904542.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
425,000,00A77,189,80,80,B9,FF
2021-08-14T01:29:02.765Z,1628904542.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:29:02.765Z,1628904542.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:29:02.767Z,1628904542.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:29:03.164Z,1628904543.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:29:03.557Z,1628904543.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4B3,000,00A5A,18A,80,80,C8,FF
2021-08-14T01:29:03.558Z,1628904543.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:29:03.973Z,1628904543.973 [Micromodem](INFO): Nmea in: $SNTTA,0.102616,,,,012903.83*40

2021-08-14T01:29:04.015Z,1628904544.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.500000 m, bearing: 118.979997 deg, deltaT: 4.432687 s, approachRate: -0.392540 m/s, LOS rate: -0.773430 deg/s, posRepo size: 4
2021-08-14T01:29:04.021Z,1628904544.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.500000 m,
      bearing: 118.979997 deg,
      approachRate: -0.392540 m/s,
      LOS rate: -0.773430 deg/s,
      cmd update: -2.320290 deg/s,
      cmd heading: 166.449004 deg,
      new cmd heading: 165.893210 deg.

2021-08-14T01:29:06.145Z,1628904546.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:29:06.401Z,1628904546.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:29:06.401Z,1628904546.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:29:06.401Z,1628904546.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:29:06.402Z,1628904546.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:29:06.809Z,1628904546.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4B3,000,00A5A,18A,80,80,C8,FF
2021-08-14T01:29:06.809Z,1628904546.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:29:06.810Z,1628904546.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:29:06.811Z,1628904546.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:29:07.193Z,1628904547.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:29:07.598Z,1628904547.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30C,000,00A3F,189,80,80,B2,FF
2021-08-14T01:29:07.598Z,1628904547.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:29:08.029Z,1628904548.029 [Micromodem](INFO): Nmea in: $SNTTA,0.087025,,,,012907.87*4A

2021-08-14T01:29:08.074Z,1628904548.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.880005 m, bearing: 124.369057 deg, deltaT: 4.007937 s, approachRate: -0.404197 m/s, LOS rate: 1.344597 deg/s, posRepo size: 4
2021-08-14T01:29:08.076Z,1628904548.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.880005 m,
      bearing: 124.369057 deg,
      approachRate: -0.404197 m/s,
      LOS rate: 1.344597 deg/s,
      cmd update: 4.033791 deg/s,
      cmd heading: 157.140065 deg,
      new cmd heading: 156.073224 deg.

2021-08-14T01:29:10.471Z,1628904550.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:29:10.826Z,1628904550.826 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:29:10.826Z,1628904550.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:29:10.826Z,1628904550.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:29:10.827Z,1628904550.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:29:11.237Z,1628904551.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30C,000,00A3F,189,80,80,B2,FF
2021-08-14T01:29:11.237Z,1628904551.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:29:11.238Z,1628904551.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:29:11.239Z,1628904551.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:29:11.632Z,1628904551.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:29:12.037Z,1628904552.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,293,000,00A17,189,80,80,AA,FF
2021-08-14T01:29:12.037Z,1628904552.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:29:12.482Z,1628904552.482 [Micromodem](INFO): Nmea in: $SNTTA,0.083366,,,,012912.30*42

2021-08-14T01:29:12.517Z,1628904552.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.480003 m, bearing: 123.230355 deg, deltaT: 4.478060 s, approachRate: -0.535947 m/s, LOS rate: -0.254285 deg/s, posRepo size: 4
2021-08-14T01:29:12.519Z,1628904552.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.480003 m,
      bearing: 123.230355 deg,
      approachRate: -0.535947 m/s,
      LOS rate: -0.254285 deg/s,
      cmd update: -0.762854 deg/s,
      cmd heading: 175.186464 deg,
      new cmd heading: 176.914798 deg.

2021-08-14T01:29:14.888Z,1628904554.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:29:15.269Z,1628904555.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:29:15.269Z,1628904555.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:29:15.270Z,1628904555.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:29:15.270Z,1628904555.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:29:15.669Z,1628904555.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
293,000,00A17,189,80,80,AA,FF
2021-08-14T01:29:15.669Z,1628904555.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:29:15.669Z,1628904555.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:29:15.671Z,1628904555.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:29:16.081Z,1628904556.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:29:16.489Z,1628904556.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39F,000,009E5,189,80,80,92,FF
2021-08-14T01:29:16.490Z,1628904556.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:29:16.921Z,1628904556.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012916.74*50

2021-08-14T01:29:16.946Z,1628904556.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.480003 m, bearing: 121.211556 deg, deltaT: 4.434445 s, approachRate: -0.676522 m/s, LOS rate: -0.455254 deg/s, posRepo size: 4
2021-08-14T01:29:16.973Z,1628904556.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.480003 m,
      bearing: 121.211556 deg,
      approachRate: -0.676522 m/s,
      LOS rate: -0.455254 deg/s,
      cmd update: -1.365762 deg/s,
      cmd heading: 171.800280 deg,
      new cmd heading: 171.480164 deg.

2021-08-14T01:29:19.376Z,1628904559.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:29:19.709Z,1628904559.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:29:19.709Z,1628904559.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:29:19.709Z,1628904559.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:29:19.710Z,1628904559.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:29:19.965Z,1628904559.965 [CTD_Seabird](ERROR): Failed to parse device response: 3,4.75164,4849.07
2021-08-14T01:29:20.113Z,1628904560.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39F,000,009E5,189,80,80,92,FF
2021-08-14T01:29:20.113Z,1628904560.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:29:20.113Z,1628904560.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:29:20.115Z,1628904560.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:29:20.528Z,1628904560.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:29:20.925Z,1628904560.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D2,000,009C3,189,80,80,9B,FF
2021-08-14T01:29:20.925Z,1628904560.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:29:21.368Z,1628904561.368 [Micromodem](INFO): Nmea in: $SNTTA,0.080754,,,,012921.18*4E

2021-08-14T01:29:21.385Z,1628904561.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.440002 m, bearing: 118.776061 deg, deltaT: 4.453604 s, approachRate: -0.458056 m/s, LOS rate: -0.546859 deg/s, posRepo size: 4
2021-08-14T01:29:21.387Z,1628904561.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.440002 m,
      bearing: 118.776061 deg,
      approachRate: -0.458056 m/s,
      LOS rate: -0.546859 deg/s,
      cmd update: -1.640578 deg/s,
      cmd heading: 165.717741 deg,
      new cmd heading: 165.165468 deg.

2021-08-14T01:29:23.800Z,1628904563.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:29:24.153Z,1628904564.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:29:24.153Z,1628904564.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:29:24.153Z,1628904564.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:29:24.154Z,1628904564.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:29:24.557Z,1628904564.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D2,000,009C3,189,80,80,9B,FF
2021-08-14T01:29:24.557Z,1628904564.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:29:24.558Z,1628904564.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:29:24.559Z,1628904564.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:29:24.980Z,1628904564.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:29:25.367Z,1628904565.367 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,397,000,009A5,189,80,80,A8,FF
2021-08-14T01:29:25.367Z,1628904565.367 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:29:25.818Z,1628904565.818 [Micromodem](INFO): Nmea in: $SNTTA,0.256396,,,,012925.62*44

2021-08-14T01:29:25.843Z,1628904565.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.640007 m, bearing: 116.114541 deg, deltaT: 4.431230 s, approachRate: -0.406207 m/s, LOS rate: -0.600628 deg/s, posRepo size: 4
2021-08-14T01:29:25.845Z,1628904565.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.640007 m,
      bearing: 116.114541 deg,
      approachRate: -0.406207 m/s,
      LOS rate: -0.600628 deg/s,
      cmd update: -1.801883 deg/s,
      cmd heading: 158.481105 deg,
      new cmd heading: 157.739701 deg.

2021-08-14T01:29:28.230Z,1628904568.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:29:28.609Z,1628904568.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:29:28.609Z,1628904568.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:29:28.609Z,1628904568.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:29:28.610Z,1628904568.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:29:29.017Z,1628904569.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
397,000,009A5,189,80,80,A8,FF
2021-08-14T01:29:29.017Z,1628904569.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:29:29.017Z,1628904569.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:29:29.019Z,1628904569.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:29:29.417Z,1628904569.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:29:29.829Z,1628904569.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EF,000,00979,188,80,80,B0,FF
2021-08-14T01:29:29.830Z,1628904569.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:29:30.249Z,1628904570.249 [Micromodem](INFO): Nmea in: $SNTTA,0.074286,,,,012930.08*4E

2021-08-14T01:29:30.346Z,1628904570.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.000008 m, bearing: 118.462323 deg, deltaT: 4.472749 s, approachRate: -0.590241 m/s, LOS rate: 0.524908 deg/s, posRepo size: 4
2021-08-14T01:29:30.354Z,1628904570.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.000008 m,
      bearing: 118.462323 deg,
      approachRate: -0.590241 m/s,
      LOS rate: 0.524908 deg/s,
      cmd update: 1.574724 deg/s,
      cmd heading: 150.385264 deg,
      new cmd heading: 149.564880 deg.

2021-08-14T01:29:32.692Z,1628904572.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:29:33.056Z,1628904573.056 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:29:33.056Z,1628904573.056 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:29:33.057Z,1628904573.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:29:33.057Z,1628904573.057 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:29:33.445Z,1628904573.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EF,000,00979,188,80,80,B0,FF
2021-08-14T01:29:33.445Z,1628904573.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:29:33.445Z,1628904573.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:29:33.447Z,1628904573.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:29:33.867Z,1628904573.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:29:34.260Z,1628904574.260 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,00950,18A,80,80,5B,FF
2021-08-14T01:29:34.261Z,1628904574.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:29:34.697Z,1628904574.697 [Micromodem](INFO): Nmea in: $SNTTA,0.093806,,,,012934.51*4D

2021-08-14T01:29:34.794Z,1628904574.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.540009 m, bearing: 116.104200 deg, deltaT: 4.455389 s, approachRate: -0.552140 m/s, LOS rate: -0.529274 deg/s, posRepo size: 4
2021-08-14T01:29:34.796Z,1628904574.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.540009 m,
      bearing: 116.104200 deg,
      approachRate: -0.552140 m/s,
      LOS rate: -0.529274 deg/s,
      cmd update: -1.587823 deg/s,
      cmd heading: 157.342991 deg,
      new cmd heading: 158.116562 deg.

2021-08-14T01:29:37.146Z,1628904577.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:29:37.489Z,1628904577.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:29:37.489Z,1628904577.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:29:37.489Z,1628904577.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:29:37.490Z,1628904577.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:29:37.900Z,1628904577.900 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,00950,18A,80,80,5B,FF
2021-08-14T01:29:37.901Z,1628904577.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:29:37.901Z,1628904577.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:29:37.907Z,1628904577.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:29:38.335Z,1628904578.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:29:38.719Z,1628904578.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,00925,188,80,80,85,FF
2021-08-14T01:29:38.719Z,1628904578.719 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:29:39.129Z,1628904579.129 [Micromodem](INFO): Nmea in: $SNTTA,0.288163,,,,012938.97*49

2021-08-14T01:29:39.167Z,1628904579.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.959999 m, bearing: 113.626597 deg, deltaT: 4.450704 s, approachRate: -0.579686 m/s, LOS rate: -0.556677 deg/s, posRepo size: 4
2021-08-14T01:29:39.173Z,1628904579.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.959999 m,
      bearing: 113.626597 deg,
      approachRate: -0.579686 m/s,
      LOS rate: -0.556677 deg/s,
      cmd update: -1.670030 deg/s,
      cmd heading: 150.223606 deg,
      new cmd heading: 149.619825 deg.

2021-08-14T01:29:41.562Z,1628904581.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:29:41.929Z,1628904581.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:29:41.929Z,1628904581.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:29:41.929Z,1628904581.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:29:41.930Z,1628904581.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:29:42.385Z,1628904582.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,00925,188,80,80,85,FF
2021-08-14T01:29:42.385Z,1628904582.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:29:42.386Z,1628904582.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:29:42.387Z,1628904582.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:29:42.779Z,1628904582.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:29:43.149Z,1628904583.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26C,000,008F1,189,80,80,56,FF
2021-08-14T01:29:43.149Z,1628904583.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:29:43.563Z,1628904583.563 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012943.45*52

2021-08-14T01:29:43.625Z,1628904583.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.840004 m, bearing: 115.254811 deg, deltaT: 4.395962 s, approachRate: -0.709741 m/s, LOS rate: 0.370389 deg/s, posRepo size: 4
2021-08-14T01:29:43.628Z,1628904583.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.840004 m,
      bearing: 115.254811 deg,
      approachRate: -0.709741 m/s,
      LOS rate: 0.370389 deg/s,
      cmd update: 1.111166 deg/s,
      cmd heading: 142.909236 deg,
      new cmd heading: 142.145271 deg.

2021-08-14T01:29:46.080Z,1628904586.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:29:46.405Z,1628904586.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:29:46.405Z,1628904586.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:29:46.405Z,1628904586.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:29:46.406Z,1628904586.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:29:46.809Z,1628904586.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26C,000,008F1,189,80,80,56,FF
2021-08-14T01:29:46.809Z,1628904586.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:29:46.809Z,1628904586.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:29:46.811Z,1628904586.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:29:47.178Z,1628904587.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:29:47.593Z,1628904587.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,008C2,187,80,80,AA,FF
2021-08-14T01:29:47.594Z,1628904587.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:29:48.007Z,1628904588.007 [Micromodem](INFO): Nmea in: $SNTTA,0.066844,,,,012947.88*41

2021-08-14T01:29:48.051Z,1628904588.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.020004 m, bearing: 116.556946 deg, deltaT: 4.423737 s, approachRate: -0.637470 m/s, LOS rate: 0.294352 deg/s, posRepo size: 4
2021-08-14T01:29:48.053Z,1628904588.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.020004 m,
      bearing: 116.556946 deg,
      approachRate: -0.637470 m/s,
      LOS rate: 0.294352 deg/s,
      cmd update: 0.883055 deg/s,
      cmd heading: 147.847169 deg,
      new cmd heading: 148.336490 deg.

2021-08-14T01:29:50.468Z,1628904590.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:29:50.821Z,1628904590.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:29:50.821Z,1628904590.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:29:50.821Z,1628904590.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:29:50.822Z,1628904590.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:29:51.221Z,1628904591.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,008C2,187,80,80,AA,FF
2021-08-14T01:29:51.221Z,1628904591.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:29:51.221Z,1628904591.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:29:51.223Z,1628904591.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:29:51.661Z,1628904591.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:29:52.044Z,1628904592.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,239,000,00897,189,80,80,5F,FF
2021-08-14T01:29:52.045Z,1628904592.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:29:52.482Z,1628904592.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.439995 m, bearing: 115.516175 deg, deltaT: 4.461048 s, approachRate: -0.578342 m/s, LOS rate: -0.233302 deg/s, posRepo size: 4
2021-08-14T01:29:52.485Z,1628904592.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.439995 m,
      bearing: 115.516175 deg,
      approachRate: -0.578342 m/s,
      LOS rate: -0.233302 deg/s,
      cmd update: -0.699905 deg/s,
      cmd heading: 151.786484 deg,
      new cmd heading: 152.149625 deg.

2021-08-14T01:29:54.894Z,1628904594.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:29:55.261Z,1628904595.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:29:55.261Z,1628904595.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:29:55.261Z,1628904595.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:29:55.262Z,1628904595.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:29:55.665Z,1628904595.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
239,000,00897,189,80,80,5F,FF
2021-08-14T01:29:55.665Z,1628904595.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:29:55.665Z,1628904595.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:29:55.667Z,1628904595.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:29:56.109Z,1628904596.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:29:56.485Z,1628904596.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,00868,189,80,80,9E,FF
2021-08-14T01:29:56.485Z,1628904596.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:29:56.917Z,1628904596.917 [Micromodem](INFO): Nmea in: $SNTTA,0.348643,,,,012956.73*43

2021-08-14T01:29:56.953Z,1628904596.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.620003 m, bearing: 112.199777 deg, deltaT: 4.487597 s, approachRate: -0.628397 m/s, LOS rate: -0.739014 deg/s, posRepo size: 4
2021-08-14T01:29:56.955Z,1628904596.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.620003 m,
      bearing: 112.199777 deg,
      approachRate: -0.628397 m/s,
      LOS rate: -0.739014 deg/s,
      cmd update: -2.217043 deg/s,
      cmd heading: 148.648398 deg,
      new cmd heading: 148.369381 deg.

2021-08-14T01:29:59.323Z,1628904599.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:29:59.717Z,1628904599.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:29:59.717Z,1628904599.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:29:59.717Z,1628904599.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:29:59.718Z,1628904599.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:30:00.109Z,1628904600.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,00868,189,80,80,9E,FF
2021-08-14T01:30:00.109Z,1628904600.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:30:00.109Z,1628904600.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:30:00.111Z,1628904600.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:30:00.529Z,1628904600.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:30:00.546Z,1628904600.546 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:30:00.926Z,1628904600.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25E,000,0083E,189,80,80,96,FF
2021-08-14T01:30:00.926Z,1628904600.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:30:01.370Z,1628904601.370 [Micromodem](INFO): Nmea in: $SNTTA,0.061959,,,,013001.17*47

2021-08-14T01:30:01.391Z,1628904601.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.099998 m, bearing: 113.458219 deg, deltaT: 4.393866 s, approachRate: -0.573528 m/s, LOS rate: 0.286409 deg/s, posRepo size: 4
2021-08-14T01:30:01.409Z,1628904601.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.099998 m,
      bearing: 113.458219 deg,
      approachRate: -0.573528 m/s,
      LOS rate: 0.286409 deg/s,
      cmd update: 0.859226 deg/s,
      cmd heading: 138.898586 deg,
      new cmd heading: 137.926012 deg.

2021-08-14T01:30:03.802Z,1628904603.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:30:04.145Z,1628904604.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:30:04.145Z,1628904604.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:30:04.145Z,1628904604.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:30:04.146Z,1628904604.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:30:04.561Z,1628904604.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25E,000,0083E,189,80,80,96,FF
2021-08-14T01:30:04.562Z,1628904604.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:30:04.562Z,1628904604.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:30:04.563Z,1628904604.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:30:04.960Z,1628904604.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:30:05.361Z,1628904605.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B9,000,0080B,186,80,80,B6,FF
2021-08-14T01:30:05.361Z,1628904605.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:30:05.818Z,1628904605.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013005.63*5C

2021-08-14T01:30:05.843Z,1628904605.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.040001 m, bearing: 114.760825 deg, deltaT: 4.427654 s, approachRate: -0.691110 m/s, LOS rate: 0.294198 deg/s, posRepo size: 4
2021-08-14T01:30:05.845Z,1628904605.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.040001 m,
      bearing: 114.760825 deg,
      approachRate: -0.691110 m/s,
      LOS rate: 0.294198 deg/s,
      cmd update: 0.882593 deg/s,
      cmd heading: 142.703146 deg,
      new cmd heading: 143.100718 deg.

2021-08-14T01:30:08.214Z,1628904608.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:30:08.593Z,1628904608.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:30:08.593Z,1628904608.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:30:08.593Z,1628904608.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:30:08.594Z,1628904608.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:30:08.997Z,1628904608.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B9,000,0080B,186,80,80,B6,FF
2021-08-14T01:30:08.997Z,1628904608.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:30:08.997Z,1628904608.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:30:08.999Z,1628904608.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:30:09.413Z,1628904609.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:30:09.809Z,1628904609.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,213,000,007DC,187,80,80,79,FF
2021-08-14T01:30:09.810Z,1628904609.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:30:10.245Z,1628904610.245 [Micromodem](INFO): Nmea in: $SNTTA,0.059063,,,,013010.06*4C

2021-08-14T01:30:10.345Z,1628904610.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.220001 m, bearing: 112.110780 deg, deltaT: 4.456588 s, approachRate: -0.632771 m/s, LOS rate: -0.594635 deg/s, posRepo size: 4
2021-08-14T01:30:10.354Z,1628904610.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.220001 m,
      bearing: 112.110780 deg,
      approachRate: -0.632771 m/s,
      LOS rate: -0.594635 deg/s,
      cmd update: -1.783906 deg/s,
      cmd heading: 146.636272 deg,
      new cmd heading: 147.078758 deg.

2021-08-14T01:30:12.347Z,1628904612.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:30:12.633Z,1628904612.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:30:12.633Z,1628904612.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:30:12.633Z,1628904612.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:30:12.634Z,1628904612.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:30:13.046Z,1628904613.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
213,000,007DC,187,80,80,79,FF
2021-08-14T01:30:13.046Z,1628904613.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:30:13.046Z,1628904613.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:30:13.048Z,1628904613.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:30:13.448Z,1628904613.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:30:13.852Z,1628904613.852 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,256,000,007B2,189,80,80,8D,FF
2021-08-14T01:30:13.853Z,1628904613.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:30:14.317Z,1628904614.317 [Micromodem](INFO): Nmea in: $SNTTA,0.059924,,,,013014.11*44

2021-08-14T01:30:14.390Z,1628904614.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.700005 m, bearing: 110.796931 deg, deltaT: 4.046858 s, approachRate: -0.622705 m/s, LOS rate: -0.324659 deg/s, posRepo size: 4
2021-08-14T01:30:14.393Z,1628904614.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.700005 m,
      bearing: 110.796931 deg,
      approachRate: -0.622705 m/s,
      LOS rate: -0.324659 deg/s,
      cmd update: -0.973977 deg/s,
      cmd heading: 139.416675 deg,
      new cmd heading: 138.512918 deg.

2021-08-14T01:30:16.777Z,1628904616.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:30:17.085Z,1628904617.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:30:17.085Z,1628904617.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:30:17.086Z,1628904617.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:30:17.087Z,1628904617.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:30:17.481Z,1628904617.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
256,000,007B2,189,80,80,8D,FF
2021-08-14T01:30:17.481Z,1628904617.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:30:17.482Z,1628904617.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:30:17.483Z,1628904617.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:30:17.897Z,1628904617.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:30:18.317Z,1628904618.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,00783,186,80,80,7A,FF
2021-08-14T01:30:18.319Z,1628904618.319 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:30:18.753Z,1628904618.753 [Micromodem](INFO): Nmea in: $SNTTA,0.092800,,,,013018.55*48

2021-08-14T01:30:18.805Z,1628904618.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.880005 m, bearing: 112.649449 deg, deltaT: 4.542104 s, approachRate: -0.620858 m/s, LOS rate: 0.407855 deg/s, posRepo size: 4
2021-08-14T01:30:18.807Z,1628904618.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.880005 m,
      bearing: 112.649449 deg,
      approachRate: -0.620858 m/s,
      LOS rate: 0.407855 deg/s,
      cmd update: 1.223564 deg/s,
      cmd heading: 134.996651 deg,
      new cmd heading: 134.623656 deg.

2021-08-14T01:30:21.170Z,1628904621.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:30:21.521Z,1628904621.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:30:21.521Z,1628904621.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:30:21.521Z,1628904621.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:30:21.522Z,1628904621.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:30:21.925Z,1628904621.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,00783,186,80,80,7A,FF
2021-08-14T01:30:21.926Z,1628904621.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:30:21.926Z,1628904621.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:30:21.928Z,1628904621.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:30:22.381Z,1628904622.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:30:22.748Z,1628904622.748 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,195,000,00752,186,80,80,A0,FF
2021-08-14T01:30:22.750Z,1628904622.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:30:23.169Z,1628904623.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013022.99*5C

2021-08-14T01:30:23.191Z,1628904623.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.940002 m, bearing: 113.413208 deg, deltaT: 4.397025 s, approachRate: -0.668634 m/s, LOS rate: 0.173699 deg/s, posRepo size: 4
2021-08-14T01:30:23.194Z,1628904623.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.940002 m,
      bearing: 113.413208 deg,
      approachRate: -0.668634 m/s,
      LOS rate: 0.173699 deg/s,
      cmd update: 0.521097 deg/s,
      cmd heading: 140.376655 deg,
      new cmd heading: 140.832503 deg.

2021-08-14T01:30:25.578Z,1628904625.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:30:25.965Z,1628904625.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:30:25.965Z,1628904625.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:30:25.965Z,1628904625.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:30:25.966Z,1628904625.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:30:26.397Z,1628904626.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
195,000,00752,186,80,80,A0,FF
2021-08-14T01:30:26.397Z,1628904626.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:30:26.397Z,1628904626.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:30:26.399Z,1628904626.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:30:26.808Z,1628904626.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:30:27.177Z,1628904627.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,00721,187,80,80,95,FF
2021-08-14T01:30:27.177Z,1628904627.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:30:27.613Z,1628904627.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013027.46*5B

2021-08-14T01:30:27.656Z,1628904627.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.000000 m, bearing: 111.744996 deg, deltaT: 4.371272 s, approachRate: -0.672574 m/s, LOS rate: -0.381631 deg/s, posRepo size: 4
2021-08-14T01:30:27.658Z,1628904627.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.000000 m,
      bearing: 111.744996 deg,
      approachRate: -0.672574 m/s,
      LOS rate: -0.381631 deg/s,
      cmd update: -1.144893 deg/s,
      cmd heading: 142.656640 deg,
      new cmd heading: 142.895161 deg.

2021-08-14T01:30:30.052Z,1628904630.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:30:30.417Z,1628904630.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:30:30.417Z,1628904630.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:30:30.417Z,1628904630.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:30:30.418Z,1628904630.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:30:30.817Z,1628904630.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,00721,187,80,80,95,FF
2021-08-14T01:30:30.818Z,1628904630.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:30:30.818Z,1628904630.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:30:30.819Z,1628904630.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:30:31.221Z,1628904631.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:30:31.617Z,1628904631.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,006EF,188,80,80,9A,FF
2021-08-14T01:30:31.618Z,1628904631.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:30:32.069Z,1628904632.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013031.89*5F

2021-08-14T01:30:32.095Z,1628904632.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.000008 m, bearing: 109.283279 deg, deltaT: 4.445035 s, approachRate: -0.674909 m/s, LOS rate: -0.553813 deg/s, posRepo size: 4
2021-08-14T01:30:32.097Z,1628904632.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.000008 m,
      bearing: 109.283279 deg,
      approachRate: -0.674909 m/s,
      LOS rate: -0.553813 deg/s,
      cmd update: -1.661438 deg/s,
      cmd heading: 137.567581 deg,
      new cmd heading: 137.046150 deg.

2021-08-14T01:30:34.496Z,1628904634.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:30:34.861Z,1628904634.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:30:34.861Z,1628904634.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:30:34.861Z,1628904634.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:30:34.862Z,1628904634.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:30:35.261Z,1628904635.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,006EF,188,80,80,9A,FF
2021-08-14T01:30:35.261Z,1628904635.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:30:35.261Z,1628904635.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:30:35.263Z,1628904635.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:30:35.693Z,1628904635.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:30:36.068Z,1628904636.068 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C6,000,006BE,186,80,80,AA,FF
2021-08-14T01:30:36.073Z,1628904636.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:30:36.501Z,1628904636.501 [Micromodem](INFO): Nmea in: $SNTTA,0.060959,0.422514,,,013036.33*5E

2021-08-14T01:30:36.536Z,1628904636.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.060005 m, bearing: 110.908291 deg, deltaT: 4.500300 s, approachRate: -0.653290 m/s, LOS rate: 0.361090 deg/s, posRepo size: 4
2021-08-14T01:30:36.538Z,1628904636.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.060005 m,
      bearing: 110.908291 deg,
      approachRate: -0.653290 m/s,
      LOS rate: 0.361090 deg/s,
      cmd update: 1.083269 deg/s,
      cmd heading: 130.097287 deg,
      new cmd heading: 129.431647 deg.

2021-08-14T01:30:38.942Z,1628904638.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:30:39.297Z,1628904639.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:30:39.297Z,1628904639.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:30:39.298Z,1628904639.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:30:39.299Z,1628904639.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:30:39.713Z,1628904639.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C6,000,006BE,186,80,80,AA,FF
2021-08-14T01:30:39.713Z,1628904639.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:30:39.713Z,1628904639.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:30:39.714Z,1628904639.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:30:40.104Z,1628904640.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:30:40.525Z,1628904640.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,0068F,186,80,80,9E,FF
2021-08-14T01:30:40.525Z,1628904640.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:30:40.529Z,1628904640.529 [Micromodem](INFO): Nmea in: $SNTTA,0.055408,0.196837,,,013040.78*59

2021-08-14T01:30:40.957Z,1628904640.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.240005 m, bearing: 112.206997 deg, deltaT: 4.473135 s, approachRate: -0.630430 m/s, LOS rate: 0.290335 deg/s, posRepo size: 4
2021-08-14T01:30:40.959Z,1628904640.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.240005 m,
      bearing: 112.206997 deg,
      approachRate: -0.630430 m/s,
      LOS rate: 0.290335 deg/s,
      cmd update: 0.871004 deg/s,
      cmd heading: 134.929736 deg,
      new cmd heading: 135.320846 deg.

2021-08-14T01:30:43.371Z,1628904643.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:30:43.766Z,1628904643.766 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:30:43.766Z,1628904643.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:30:43.766Z,1628904643.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:30:43.766Z,1628904643.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:30:44.145Z,1628904644.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,0068F,186,80,80,9E,FF
2021-08-14T01:30:44.145Z,1628904644.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:30:44.145Z,1628904644.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:30:44.147Z,1628904644.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:30:44.567Z,1628904644.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:30:44.961Z,1628904644.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A7,000,00661,185,80,80,A7,FF
2021-08-14T01:30:44.962Z,1628904644.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:30:45.413Z,1628904645.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013045.21*5E

2021-08-14T01:30:45.457Z,1628904645.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.480003 m, bearing: 109.931615 deg, deltaT: 4.376029 s, approachRate: -0.630709 m/s, LOS rate: -0.519965 deg/s, posRepo size: 4
2021-08-14T01:30:45.459Z,1628904645.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.480003 m,
      bearing: 109.931615 deg,
      approachRate: -0.630709 m/s,
      LOS rate: -0.519965 deg/s,
      cmd update: -1.559895 deg/s,
      cmd heading: 138.755091 deg,
      new cmd heading: 139.163668 deg.

2021-08-14T01:30:47.859Z,1628904647.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:30:48.185Z,1628904648.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:30:48.185Z,1628904648.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:30:48.185Z,1628904648.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:30:48.186Z,1628904648.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:30:48.589Z,1628904648.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A7,000,00661,185,80,80,A7,FF
2021-08-14T01:30:48.590Z,1628904648.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:30:48.590Z,1628904648.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:30:48.593Z,1628904648.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:30:48.997Z,1628904648.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:30:49.422Z,1628904649.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,0062A,187,80,80,76,FF
2021-08-14T01:30:49.422Z,1628904649.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:30:49.849Z,1628904649.849 [Micromodem](INFO): Nmea in: $SNTTA,0.048756,,,,013049.66*47

2021-08-14T01:30:49.891Z,1628904649.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.180004 m, bearing: 107.624397 deg, deltaT: 4.481475 s, approachRate: -0.736365 m/s, LOS rate: -0.514834 deg/s, posRepo size: 4
2021-08-14T01:30:49.897Z,1628904649.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.180004 m,
      bearing: 107.624397 deg,
      approachRate: -0.736365 m/s,
      LOS rate: -0.514834 deg/s,
      cmd update: -1.544503 deg/s,
      cmd heading: 131.770243 deg,
      new cmd heading: 131.107684 deg.

2021-08-14T01:30:52.250Z,1628904652.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:30:52.630Z,1628904652.630 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:30:52.631Z,1628904652.631 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:30:52.631Z,1628904652.631 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:30:52.633Z,1628904652.633 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:30:53.041Z,1628904653.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,0062A,187,80,80,76,FF
2021-08-14T01:30:53.041Z,1628904653.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:30:53.042Z,1628904653.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:30:53.043Z,1628904653.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:30:53.462Z,1628904653.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:30:53.849Z,1628904653.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,005FF,185,80,80,87,FF
2021-08-14T01:30:53.850Z,1628904653.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:30:54.318Z,1628904654.318 [Micromodem](INFO): Nmea in: $SNTTA,0.050477,,,,013054.11*42

2021-08-14T01:30:54.369Z,1628904654.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.599998 m, bearing: 109.146450 deg, deltaT: 4.430775 s, approachRate: -0.582292 m/s, LOS rate: 0.343518 deg/s, posRepo size: 4
2021-08-14T01:30:54.371Z,1628904654.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.599998 m,
      bearing: 109.146450 deg,
      approachRate: -0.582292 m/s,
      LOS rate: 0.343518 deg/s,
      cmd update: 1.030555 deg/s,
      cmd heading: 124.921147 deg,
      new cmd heading: 124.199186 deg.

2021-08-14T01:30:56.783Z,1628904656.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:30:57.077Z,1628904657.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:30:57.077Z,1628904657.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:30:57.077Z,1628904657.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:30:57.078Z,1628904657.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:30:57.474Z,1628904657.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,005FF,185,80,80,87,FF
2021-08-14T01:30:57.474Z,1628904657.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:30:57.474Z,1628904657.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:30:57.475Z,1628904657.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:30:57.885Z,1628904657.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:30:58.294Z,1628904658.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10E,000,005CE,186,80,80,A1,FF
2021-08-14T01:30:58.295Z,1628904658.295 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:30:58.733Z,1628904658.733 [Micromodem](INFO): Nmea in: $SNTTA,0.169708,,,,013058.54*4F

2021-08-14T01:30:58.821Z,1628904658.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.660004 m, bearing: 110.613452 deg, deltaT: 4.483799 s, approachRate: -0.655693 m/s, LOS rate: 0.327178 deg/s, posRepo size: 4
2021-08-14T01:30:58.823Z,1628904658.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.660004 m,
      bearing: 110.613452 deg,
      approachRate: -0.655693 m/s,
      LOS rate: 0.327178 deg/s,
      cmd update: 0.981535 deg/s,
      cmd heading: 129.533407 deg,
      new cmd heading: 129.991479 deg.

2021-08-14T01:31:01.153Z,1628904661.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:31:01.517Z,1628904661.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:31:01.517Z,1628904661.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:31:01.517Z,1628904661.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:31:01.518Z,1628904661.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:31:01.930Z,1628904661.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10E,000,005CE,186,80,80,A1,FF
2021-08-14T01:31:01.930Z,1628904661.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:31:01.930Z,1628904661.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:31:01.932Z,1628904661.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:31:02.374Z,1628904662.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:31:02.741Z,1628904662.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,159,000,00594,186,80,80,97,FF
2021-08-14T01:31:02.742Z,1628904662.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:31:03.161Z,1628904663.161 [Micromodem](INFO): Nmea in: $SNTTA,0.249898,,,,013103.00*46

2021-08-14T01:31:03.227Z,1628904663.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.179996 m, bearing: 108.733975 deg, deltaT: 4.422065 s, approachRate: -0.786964 m/s, LOS rate: -0.425022 deg/s, posRepo size: 4
2021-08-14T01:31:03.230Z,1628904663.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.179996 m,
      bearing: 108.733975 deg,
      approachRate: -0.786964 m/s,
      LOS rate: -0.425022 deg/s,
      cmd update: -1.275067 deg/s,
      cmd heading: 133.874435 deg,
      new cmd heading: 134.292513 deg.

2021-08-14T01:31:05.575Z,1628904665.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:31:05.970Z,1628904665.970 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:31:05.970Z,1628904665.970 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:31:05.971Z,1628904665.971 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:31:05.971Z,1628904665.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:31:06.393Z,1628904666.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
159,000,00594,186,80,80,97,FF
2021-08-14T01:31:06.393Z,1628904666.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:31:06.393Z,1628904666.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:31:06.395Z,1628904666.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:31:06.808Z,1628904666.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:31:07.173Z,1628904667.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19F,000,00564,185,80,80,64,FF
2021-08-14T01:31:07.173Z,1628904667.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:31:07.595Z,1628904667.595 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013107.46*58

2021-08-14T01:31:07.627Z,1628904667.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.299999 m, bearing: 106.766560 deg, deltaT: 4.411356 s, approachRate: -0.652860 m/s, LOS rate: -0.445989 deg/s, posRepo size: 4
2021-08-14T01:31:07.629Z,1628904667.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.299999 m,
      bearing: 106.766560 deg,
      approachRate: -0.652860 m/s,
      LOS rate: -0.445989 deg/s,
      cmd update: -1.337967 deg/s,
      cmd heading: 128.244648 deg,
      new cmd heading: 127.718195 deg.

2021-08-14T01:31:10.039Z,1628904670.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:31:10.409Z,1628904670.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:31:10.409Z,1628904670.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:31:10.409Z,1628904670.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:31:10.410Z,1628904670.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:31:10.817Z,1628904670.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19F,000,00564,185,80,80,64,FF
2021-08-14T01:31:10.817Z,1628904670.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:31:10.817Z,1628904670.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:31:10.819Z,1628904670.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:31:11.228Z,1628904671.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:31:11.617Z,1628904671.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,00533,186,80,80,A2,FF
2021-08-14T01:31:11.618Z,1628904671.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:31:12.058Z,1628904672.058 [Micromodem](INFO): Nmea in: $SNTTA,0.037261,,,,013111.88*42

2021-08-14T01:31:12.083Z,1628904672.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.360001 m, bearing: 107.208377 deg, deltaT: 4.448472 s, approachRate: -0.660901 m/s, LOS rate: 0.099319 deg/s, posRepo size: 4
2021-08-14T01:31:12.086Z,1628904672.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.360001 m,
      bearing: 107.208377 deg,
      approachRate: -0.660901 m/s,
      LOS rate: 0.099319 deg/s,
      cmd update: 0.297957 deg/s,
      cmd heading: 122.292766 deg,
      new cmd heading: 121.729782 deg.

2021-08-14T01:31:14.512Z,1628904674.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:31:14.849Z,1628904674.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:31:14.849Z,1628904674.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:31:14.849Z,1628904674.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:31:14.850Z,1628904674.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:31:15.253Z,1628904675.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,00533,186,80,80,A2,FF
2021-08-14T01:31:15.253Z,1628904675.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:31:15.253Z,1628904675.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:31:15.255Z,1628904675.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:31:15.664Z,1628904675.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:31:16.058Z,1628904676.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,004FF,185,80,80,79,FF
2021-08-14T01:31:16.058Z,1628904676.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:31:16.477Z,1628904676.477 [Micromodem](INFO): Nmea in: $SNTTA,0.058828,0.424321,,,013116.32*56

2021-08-14T01:31:16.549Z,1628904676.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.240002 m, bearing: 107.104278 deg, deltaT: 4.479063 s, approachRate: -0.696574 m/s, LOS rate: -0.023241 deg/s, posRepo size: 4
2021-08-14T01:31:16.549Z,1628904676.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.24 m.
2021-08-14T01:31:16.551Z,1628904676.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.240002 m,
      bearing: 107.104278 deg,
      approachRate: -0.696574 m/s,
      LOS rate: -0.023241 deg/s,
      cmd update: -0.069724 deg/s,
      cmd heading: 123.628533 deg,
      new cmd heading: 123.747306 deg.

2021-08-14T01:31:16.911Z,1628904676.911 [PowerOnly](INFO): Powering up loadControl
2021-08-14T01:31:16.953Z,1628904676.953 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:31:16.953Z,1628904676.953 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:31:16.954Z,1628904676.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:31:16.954Z,1628904676.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:31:16.954Z,1628904676.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:31:16.954Z,1628904676.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:31:17.345Z,1628904677.345 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:31:17.345Z,1628904677.345 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:31:17.345Z,1628904677.345 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:31:17.345Z,1628904677.345 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:31:18.958Z,1628904678.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:31:19.313Z,1628904679.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:31:19.313Z,1628904679.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:31:19.313Z,1628904679.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:31:19.314Z,1628904679.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:31:19.728Z,1628904679.728 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,004FF,185,80,80,79,FF
2021-08-14T01:31:19.729Z,1628904679.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:31:19.729Z,1628904679.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:31:19.734Z,1628904679.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:31:20.113Z,1628904680.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:31:20.510Z,1628904680.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,004CE,187,80,80,95,FF
2021-08-14T01:31:20.510Z,1628904680.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:31:20.612Z,1628904680.612 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:31:20.941Z,1628904680.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013120.80*57

2021-08-14T01:31:20.968Z,1628904680.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 108.053647 deg, deltaT: 4.464019 s, approachRate: -0.658601 m/s, LOS rate: 0.212671 deg/s, posRepo size: 4
2021-08-14T01:31:20.968Z,1628904680.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.30 m.
2021-08-14T01:31:20.970Z,1628904680.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.299995 m,
      bearing: 108.053647 deg,
      approachRate: -0.658601 m/s,
      LOS rate: 0.212671 deg/s,
      cmd update: 0.638014 deg/s,
      cmd heading: 123.317913 deg,
      new cmd heading: 123.292335 deg.

2021-08-14T01:31:23.387Z,1628904683.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:31:23.748Z,1628904683.748 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:31:23.749Z,1628904683.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:31:23.749Z,1628904683.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:31:23.751Z,1628904683.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:31:24.141Z,1628904684.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,004CE,187,80,80,95,FF
2021-08-14T01:31:24.141Z,1628904684.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:31:24.141Z,1628904684.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:31:24.143Z,1628904684.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:31:24.546Z,1628904684.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:31:24.954Z,1628904684.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,0049E,185,80,80,7E,FF
2021-08-14T01:31:24.955Z,1628904684.955 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:31:24.991Z,1628904684.991 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:31:25.393Z,1628904685.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013125.21*59

2021-08-14T01:31:25.434Z,1628904685.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.419998 m, bearing: 106.621616 deg, deltaT: 4.378193 s, approachRate: -0.657805 m/s, LOS rate: -0.327083 deg/s, posRepo size: 4
2021-08-14T01:31:25.435Z,1628904685.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.42 m.
2021-08-14T01:31:25.437Z,1628904685.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.419998 m,
      bearing: 106.621616 deg,
      approachRate: -0.657805 m/s,
      LOS rate: -0.327083 deg/s,
      cmd update: -0.981248 deg/s,
      cmd heading: 126.116644 deg,
      new cmd heading: 126.401671 deg.

2021-08-14T01:31:27.842Z,1628904687.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:31:28.189Z,1628904688.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:31:28.189Z,1628904688.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:31:28.189Z,1628904688.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:31:28.190Z,1628904688.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:31:28.597Z,1628904688.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
109,000,0049E,185,80,80,7E,FF
2021-08-14T01:31:28.597Z,1628904688.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:31:28.597Z,1628904688.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:31:28.599Z,1628904688.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:31:28.999Z,1628904688.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:31:29.493Z,1628904689.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,00474,186,80,80,A0,FF
2021-08-14T01:31:29.493Z,1628904689.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:31:29.538Z,1628904689.538 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:31:29.849Z,1628904689.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013129.67*57

2021-08-14T01:31:29.899Z,1628904689.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.900002 m, bearing: 103.631878 deg, deltaT: 4.547009 s, approachRate: -0.554210 m/s, LOS rate: -0.657517 deg/s, posRepo size: 4
2021-08-14T01:31:29.904Z,1628904689.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.90 m.
2021-08-14T01:31:29.906Z,1628904689.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.900002 m,
      bearing: 103.631878 deg,
      approachRate: -0.554210 m/s,
      LOS rate: -0.657517 deg/s,
      cmd update: -1.972552 deg/s,
      cmd heading: 121.658728 deg,
      new cmd heading: 121.296667 deg.

2021-08-14T01:31:32.252Z,1628904692.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:31:32.618Z,1628904692.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:31:32.618Z,1628904692.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:31:32.619Z,1628904692.619 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:31:32.620Z,1628904692.620 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:31:33.033Z,1628904693.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,00474,186,80,80,A0,FF
2021-08-14T01:31:33.034Z,1628904693.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:31:33.034Z,1628904693.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:31:33.035Z,1628904693.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:31:33.436Z,1628904693.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:31:33.837Z,1628904693.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,102,000,00446,186,80,80,4E,FF
2021-08-14T01:31:33.837Z,1628904693.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:31:33.893Z,1628904693.893 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:31:34.299Z,1628904694.299 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013134.10*5B

2021-08-14T01:31:34.369Z,1628904694.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.140001 m, bearing: 103.432567 deg, deltaT: 4.355082 s, approachRate: -0.633742 m/s, LOS rate: -0.045765 deg/s, posRepo size: 4
2021-08-14T01:31:34.370Z,1628904694.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.14 m.
2021-08-14T01:31:34.370Z,1628904694.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.14 m.
2021-08-14T01:31:34.370Z,1628904694.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T01:31:34.377Z,1628904694.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.140001 m,
      bearing: 103.432567 deg,
      approachRate: -0.633742 m/s,
      LOS rate: -0.045765 deg/s,
      cmd update: -0.137296 deg/s,
      cmd heading: 113.108924 deg,
      new cmd heading: 112.122569 deg.

2021-08-14T01:31:36.757Z,1628904696.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:31:37.069Z,1628904697.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:31:37.069Z,1628904697.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:31:37.069Z,1628904697.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:31:37.070Z,1628904697.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:31:37.477Z,1628904697.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
102,000,00446,186,80,80,4E,FF
2021-08-14T01:31:37.477Z,1628904697.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:31:37.477Z,1628904697.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:31:37.479Z,1628904697.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:31:37.881Z,1628904697.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:31:38.293Z,1628904698.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,00415,186,80,80,89,FF
2021-08-14T01:31:38.294Z,1628904698.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:31:38.380Z,1628904698.380 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:31:38.717Z,1628904698.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013138.55*56

2021-08-14T01:31:38.807Z,1628904698.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 105.683872 deg, deltaT: 4.487357 s, approachRate: -0.655175 m/s, LOS rate: 0.501700 deg/s, posRepo size: 4
2021-08-14T01:31:38.809Z,1628904698.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.199999 m,
      bearing: 105.683872 deg,
      approachRate: -0.655175 m/s,
      LOS rate: 0.501700 deg/s,
      cmd update: 1.505099 deg/s,
      cmd heading: 112.490012 deg,
      new cmd heading: 112.430439 deg.

2021-08-14T01:31:41.174Z,1628904701.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:31:41.517Z,1628904701.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:31:41.517Z,1628904701.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:31:41.517Z,1628904701.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:31:41.518Z,1628904701.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:31:41.921Z,1628904701.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,00415,186,80,80,89,FF
2021-08-14T01:31:41.922Z,1628904701.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:31:41.922Z,1628904701.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:31:41.923Z,1628904701.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:31:42.377Z,1628904702.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:31:42.733Z,1628904702.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,003E7,186,80,80,6B,FF
2021-08-14T01:31:42.734Z,1628904702.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:31:42.799Z,1628904702.799 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:31:43.169Z,1628904703.169 [Micromodem](INFO): Nmea in: $SNTTA,0.017168,,,,013142.99*4C

2021-08-14T01:31:43.210Z,1628904703.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 105.181744 deg, deltaT: 4.418909 s, approachRate: -0.624588 m/s, LOS rate: -0.113632 deg/s, posRepo size: 4
2021-08-14T01:31:43.212Z,1628904703.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.440001 m,
      bearing: 105.181744 deg,
      approachRate: -0.624588 m/s,
      LOS rate: -0.113632 deg/s,
      cmd update: -0.340895 deg/s,
      cmd heading: 119.141440 deg,
      new cmd heading: 119.770326 deg.

2021-08-14T01:31:45.584Z,1628904705.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:31:45.965Z,1628904705.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:31:45.965Z,1628904705.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:31:45.965Z,1628904705.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:31:45.966Z,1628904705.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:31:46.413Z,1628904706.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,003E7,186,80,80,6B,FF
2021-08-14T01:31:46.413Z,1628904706.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:31:46.413Z,1628904706.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:31:46.415Z,1628904706.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:31:46.778Z,1628904706.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:31:47.178Z,1628904707.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,003B8,186,80,80,84,FF
2021-08-14T01:31:47.178Z,1628904707.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:31:47.202Z,1628904707.202 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:31:47.587Z,1628904707.587 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013147.48*52

2021-08-14T01:31:47.647Z,1628904707.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.619999 m, bearing: 101.961966 deg, deltaT: 4.403217 s, approachRate: -0.640441 m/s, LOS rate: -0.731233 deg/s, posRepo size: 4
2021-08-14T01:31:47.654Z,1628904707.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 101.961966 deg,
      approachRate: -0.640441 m/s,
      LOS rate: -0.731233 deg/s,
      cmd update: -2.193700 deg/s,
      cmd heading: 117.639029 deg,
      new cmd heading: 117.486199 deg.

2021-08-14T01:31:50.029Z,1628904710.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:31:50.422Z,1628904710.422 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:31:50.422Z,1628904710.422 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:31:50.422Z,1628904710.422 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:31:50.423Z,1628904710.423 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:31:50.813Z,1628904710.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,003B8,186,80,80,84,FF
2021-08-14T01:31:50.813Z,1628904710.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:31:50.813Z,1628904710.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:31:50.815Z,1628904710.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:31:51.226Z,1628904711.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:31:51.605Z,1628904711.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D1,000,00394,186,80,80,83,FF
2021-08-14T01:31:51.606Z,1628904711.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:31:51.666Z,1628904711.666 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:31:52.057Z,1628904712.057 [Micromodem](INFO): Nmea in: $SNTTA,0.037834,,,,013151.88*4C

2021-08-14T01:31:52.123Z,1628904712.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.459999 m, bearing: 103.432819 deg, deltaT: 4.463567 s, approachRate: -0.483918 m/s, LOS rate: 0.329524 deg/s, posRepo size: 4
2021-08-14T01:31:52.125Z,1628904712.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.459999 m,
      bearing: 103.432819 deg,
      approachRate: -0.483918 m/s,
      LOS rate: 0.329524 deg/s,
      cmd update: 0.988573 deg/s,
      cmd heading: 107.865167 deg,
      new cmd heading: 106.845482 deg.

2021-08-14T01:31:54.521Z,1628904714.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:31:54.841Z,1628904714.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:31:54.841Z,1628904714.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:31:54.841Z,1628904714.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:31:54.842Z,1628904714.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:31:55.249Z,1628904715.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D1,000,00394,186,80,80,83,FF
2021-08-14T01:31:55.249Z,1628904715.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:31:55.250Z,1628904715.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:31:55.253Z,1628904715.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:31:55.653Z,1628904715.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:31:56.066Z,1628904716.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,0035D,185,80,80,92,FF
2021-08-14T01:31:56.067Z,1628904716.067 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:31:56.177Z,1628904716.177 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:31:56.497Z,1628904716.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013156.32*5F

2021-08-14T01:31:56.553Z,1628904716.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.159999 m, bearing: 106.514464 deg, deltaT: 4.510901 s, approachRate: -0.731561 m/s, LOS rate: 0.683155 deg/s, posRepo size: 4
2021-08-14T01:31:56.555Z,1628904716.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 106.514464 deg,
      approachRate: -0.731561 m/s,
      LOS rate: 0.683155 deg/s,
      cmd update: 2.049465 deg/s,
      cmd heading: 112.328627 deg,
      new cmd heading: 112.707171 deg.

2021-08-14T01:31:58.923Z,1628904718.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:31:59.297Z,1628904719.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:31:59.297Z,1628904719.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:31:59.297Z,1628904719.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:31:59.298Z,1628904719.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:31:59.695Z,1628904719.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,0035D,185,80,80,92,FF
2021-08-14T01:31:59.695Z,1628904719.695 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:31:59.695Z,1628904719.695 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:31:59.697Z,1628904719.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:32:00.096Z,1628904720.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:32:00.497Z,1628904720.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10C,000,00332,185,80,80,A6,FF
2021-08-14T01:32:00.497Z,1628904720.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:32:00.565Z,1628904720.565 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:32:00.950Z,1628904720.950 [Micromodem](INFO): Nmea in: $SNTTA,0.020599,,,,013200.76*46

2021-08-14T01:32:01.005Z,1628904721.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.579999 m, bearing: 97.964789 deg, deltaT: 4.388553 s, approachRate: -0.587893 m/s, LOS rate: -1.948176 deg/s, posRepo size: 4
2021-08-14T01:32:01.007Z,1628904721.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.579999 m,
      bearing: 97.964789 deg,
      approachRate: -0.587893 m/s,
      LOS rate: -1.948176 deg/s,
      cmd update: -5.844529 deg/s,
      cmd heading: 121.322721 deg,
      new cmd heading: 122.238430 deg.

2021-08-14T01:32:03.387Z,1628904723.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:32:03.731Z,1628904723.731 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:32:03.731Z,1628904723.731 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:32:03.733Z,1628904723.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:32:03.734Z,1628904723.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:32:04.137Z,1628904724.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,00332,185,80,80,A6,FF
2021-08-14T01:32:04.137Z,1628904724.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:32:04.137Z,1628904724.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:32:04.139Z,1628904724.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:32:04.541Z,1628904724.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:32:04.941Z,1628904724.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,00308,186,80,80,B0,FF
2021-08-14T01:32:04.942Z,1628904724.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:32:04.996Z,1628904724.996 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:32:05.394Z,1628904725.394 [Micromodem](INFO): Nmea in: $SNTTA,0.020302,,,,013205.20*44

2021-08-14T01:32:05.415Z,1628904725.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.059999 m, bearing: 96.068229 deg, deltaT: 4.430931 s, approachRate: -0.568729 m/s, LOS rate: -0.428027 deg/s, posRepo size: 4
2021-08-14T01:32:05.417Z,1628904725.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 96.068229 deg,
      approachRate: -0.568729 m/s,
      LOS rate: -0.428027 deg/s,
      cmd update: -1.284082 deg/s,
      cmd heading: 95.544117 deg,
      new cmd heading: 92.935710 deg.

2021-08-14T01:32:07.837Z,1628904727.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:32:08.177Z,1628904728.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:32:08.177Z,1628904728.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:32:08.177Z,1628904728.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:32:08.178Z,1628904728.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:32:08.577Z,1628904728.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,00308,186,80,80,B0,FF
2021-08-14T01:32:08.577Z,1628904728.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:32:08.577Z,1628904728.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:32:08.579Z,1628904728.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:32:08.697Z,1628904728.697 [CTD_Seabird](ERROR): Failed to parse device response: 21,4853.24
2021-08-14T01:32:08.989Z,1628904728.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:32:09.393Z,1628904729.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,002E8,187,80,80,A6,FF
2021-08-14T01:32:09.393Z,1628904729.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:32:09.413Z,1628904729.413 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:32:09.833Z,1628904729.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013209.64*55

2021-08-14T01:32:09.874Z,1628904729.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.139998 m, bearing: 98.765498 deg, deltaT: 4.417101 s, approachRate: -0.434674 m/s, LOS rate: 0.610642 deg/s, posRepo size: 4
2021-08-14T01:32:09.876Z,1628904729.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 98.765498 deg,
      approachRate: -0.434674 m/s,
      LOS rate: 0.610642 deg/s,
      cmd update: 1.831927 deg/s,
      cmd heading: 89.841201 deg,
      new cmd heading: 89.245390 deg.

2021-08-14T01:32:10.630Z,1628904730.630 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T01:32:12.236Z,1628904732.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:32:12.617Z,1628904732.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:32:12.617Z,1628904732.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:32:12.617Z,1628904732.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:32:12.618Z,1628904732.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:32:13.033Z,1628904733.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,002E8,187,80,80,A6,FF
2021-08-14T01:32:13.034Z,1628904733.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:32:13.034Z,1628904733.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:32:13.035Z,1628904733.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:32:13.432Z,1628904733.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:32:13.829Z,1628904733.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,002CE,186,80,80,73,FF
2021-08-14T01:32:13.829Z,1628904733.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:32:13.888Z,1628904733.888 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:32:14.282Z,1628904734.282 [Micromodem](INFO): Nmea in: $SNTTA,0.024327,,,,013214.10*44

2021-08-14T01:32:14.369Z,1628904734.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.580000 m, bearing: 110.766175 deg, deltaT: 4.474920 s, approachRate: -0.348609 m/s, LOS rate: 2.681763 deg/s, posRepo size: 4
2021-08-14T01:32:14.371Z,1628904734.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 110.766175 deg,
      approachRate: -0.348609 m/s,
      LOS rate: 2.681763 deg/s,
      cmd update: 8.045290 deg/s,
      cmd heading: 98.038273 deg,
      new cmd heading: 98.915271 deg.

2021-08-14T01:32:16.707Z,1628904736.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:32:17.065Z,1628904737.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:32:17.065Z,1628904737.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:32:17.065Z,1628904737.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:32:17.066Z,1628904737.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:32:17.473Z,1628904737.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,002CE,186,80,80,73,FF
2021-08-14T01:32:17.473Z,1628904737.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:32:17.473Z,1628904737.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:32:17.475Z,1628904737.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:32:17.877Z,1628904737.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:32:18.281Z,1628904738.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,002CB,186,80,80,9F,FF
2021-08-14T01:32:18.282Z,1628904738.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:32:18.381Z,1628904738.381 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:32:18.715Z,1628904738.715 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013218.54*56

2021-08-14T01:32:18.814Z,1628904738.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.399999 m, bearing: 86.742269 deg, deltaT: 4.492678 s, approachRate: -0.040065 m/s, LOS rate: -5.347347 deg/s, posRepo size: 4
2021-08-14T01:32:18.816Z,1628904738.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.399999 m,
      bearing: 86.742269 deg,
      approachRate: -0.040065 m/s,
      LOS rate: -5.347347 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 134.153154 deg,
      new cmd heading: 137.693001 deg.

2021-08-14T01:32:21.133Z,1628904741.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:32:21.513Z,1628904741.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:32:21.514Z,1628904741.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:32:21.514Z,1628904741.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:32:21.515Z,1628904741.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:32:21.928Z,1628904741.928 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,002CB,186,80,80,9F,FF
2021-08-14T01:32:21.928Z,1628904741.928 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:32:21.929Z,1628904741.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:32:21.930Z,1628904741.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:32:22.367Z,1628904742.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:32:22.729Z,1628904742.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,002E4,185,80,80,B1,FF
2021-08-14T01:32:22.729Z,1628904742.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:32:22.806Z,1628904742.806 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:32:23.157Z,1628904743.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013223.00*5F

2021-08-14T01:32:23.203Z,1628904743.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.900000 m, bearing: 99.826801 deg, deltaT: 4.425654 s, approachRate: 0.338933 m/s, LOS rate: 2.956519 deg/s, posRepo size: 4
2021-08-14T01:32:23.209Z,1628904743.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 99.826801 deg,
      approachRate: 0.338933 m/s,
      LOS rate: 2.956519 deg/s,
      cmd update: 8.869558 deg/s,
      cmd heading: 81.044476 deg,
      new cmd heading: 76.198492 deg.

2021-08-14T01:32:25.587Z,1628904745.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:32:25.953Z,1628904745.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:32:25.953Z,1628904745.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:32:25.953Z,1628904745.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:32:25.954Z,1628904745.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:32:26.381Z,1628904746.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,002E4,185,80,80,B1,FF
2021-08-14T01:32:26.381Z,1628904746.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:32:26.382Z,1628904746.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:32:26.383Z,1628904746.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:32:26.800Z,1628904746.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:32:27.165Z,1628904747.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD7,000,0030C,189,80,80,66,FF
2021-08-14T01:32:27.165Z,1628904747.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:32:27.185Z,1628904747.185 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:32:27.591Z,1628904747.591 [Micromodem](INFO): Nmea in: $SNTTA,0.005776,,,,013227.45*47

2021-08-14T01:32:27.606Z,1628904747.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.299998 m, bearing: 146.461522 deg, deltaT: 4.378610 s, approachRate: 0.548119 m/s, LOS rate: 10.650577 deg/s, posRepo size: 4
2021-08-14T01:32:27.621Z,1628904747.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 146.461522 deg,
      approachRate: 0.548119 m/s,
      LOS rate: 10.650577 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 119.917274 deg,
      new cmd heading: 123.680575 deg.

2021-08-14T01:32:30.021Z,1628904750.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:32:30.409Z,1628904750.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:32:30.409Z,1628904750.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:32:30.410Z,1628904750.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:32:30.411Z,1628904750.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:32:30.825Z,1628904750.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD7,000,0030C,189,80,80,66,FF
2021-08-14T01:32:30.825Z,1628904750.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:32:30.825Z,1628904750.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:32:30.827Z,1628904750.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:32:31.241Z,1628904751.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:32:31.609Z,1628904751.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,00343,186,80,80,98,FF
2021-08-14T01:32:31.609Z,1628904751.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:32:31.650Z,1628904751.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:32:32.041Z,1628904752.041 [Micromodem](INFO): Nmea in: $SNTTA,0.031426,,,,013231.89*41

2021-08-14T01:32:32.088Z,1628904752.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 125.301924 deg, deltaT: 4.464689 s, approachRate: 0.739133 m/s, LOS rate: -4.739322 deg/s, posRepo size: 4
2021-08-14T01:32:32.090Z,1628904752.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.599998 m,
      bearing: 125.301924 deg,
      approachRate: 0.739133 m/s,
      LOS rate: -4.739322 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 173.252476 deg,
      new cmd heading: 178.734616 deg.

2021-08-14T01:32:34.485Z,1628904754.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:32:34.845Z,1628904754.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:32:34.845Z,1628904754.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:32:34.845Z,1628904754.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:32:34.846Z,1628904754.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:32:35.245Z,1628904755.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,00343,186,80,80,98,FF
2021-08-14T01:32:35.245Z,1628904755.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:32:35.245Z,1628904755.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:32:35.247Z,1628904755.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:32:35.653Z,1628904755.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:32:36.053Z,1628904756.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,00365,186,80,80,8E,FF
2021-08-14T01:32:36.053Z,1628904756.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:32:36.115Z,1628904756.115 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:32:36.498Z,1628904756.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013236.31*59

2021-08-14T01:32:36.534Z,1628904756.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.639997 m, bearing: 138.000885 deg, deltaT: 4.469576 s, approachRate: 0.456419 m/s, LOS rate: 2.841200 deg/s, posRepo size: 4
2021-08-14T01:32:36.534Z,1628904756.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.64 m. Rolling out.
2021-08-14T01:32:36.534Z,1628904756.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T01:32:38.926Z,1628904758.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:32:39.289Z,1628904759.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:32:39.289Z,1628904759.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:32:39.289Z,1628904759.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:32:39.290Z,1628904759.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:32:39.693Z,1628904759.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,00365,186,80,80,8E,FF
2021-08-14T01:32:39.693Z,1628904759.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:32:39.693Z,1628904759.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:32:39.695Z,1628904759.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:32:40.105Z,1628904760.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:32:40.495Z,1628904760.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,00390,186,80,80,83,FF
2021-08-14T01:32:40.495Z,1628904760.495 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:32:40.555Z,1628904760.555 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:32:40.946Z,1628904760.946 [Micromodem](INFO): Nmea in: $SNTTA,0.035914,,,,013240.76*4F

2021-08-14T01:32:40.971Z,1628904760.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 141.679447 deg, deltaT: 4.440179 s, approachRate: 0.581058 m/s, LOS rate: 0.828472 deg/s, posRepo size: 4
2021-08-14T01:32:43.374Z,1628904763.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:32:43.733Z,1628904763.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:32:43.733Z,1628904763.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:32:43.734Z,1628904763.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:32:43.735Z,1628904763.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:32:44.153Z,1628904764.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,00390,186,80,80,83,FF
2021-08-14T01:32:44.153Z,1628904764.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:32:44.153Z,1628904764.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:32:44.155Z,1628904764.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:32:44.545Z,1628904764.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:32:44.953Z,1628904764.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,120,000,003BD,186,80,80,6D,FF
2021-08-14T01:32:44.954Z,1628904764.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:32:45.008Z,1628904765.008 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:32:45.377Z,1628904765.377 [Micromodem](INFO): Nmea in: $SNTTA,0.032317,,,,013245.22*45

2021-08-14T01:32:45.399Z,1628904765.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.919998 m, bearing: 108.722453 deg, deltaT: 4.448940 s, approachRate: 0.606886 m/s, LOS rate: -7.407831 deg/s, posRepo size: 4
2021-08-14T01:32:47.841Z,1628904767.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:32:48.191Z,1628904768.191 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:32:48.191Z,1628904768.191 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:32:48.191Z,1628904768.191 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:32:48.193Z,1628904768.193 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:32:48.577Z,1628904768.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
120,000,003BD,186,80,80,6D,FF
2021-08-14T01:32:48.577Z,1628904768.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:32:48.577Z,1628904768.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:32:48.579Z,1628904768.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:32:49.002Z,1628904769.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:32:49.830Z,1628904769.830 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013249.64*51

2021-08-14T01:32:50.606Z,1628904770.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,03716,186,80,80,B3,FF
2021-08-14T01:32:50.606Z,1628904770.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:32:50.678Z,1628904770.678 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:32:51.047Z,1628904771.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 808.620056 m, bearing: 126.783897 deg, deltaT: 5.669615 s, approachRate: 139.109985 m/s, LOS rate: 3.185656 deg/s, posRepo size: 4
2021-08-14T01:32:51.047Z,1628904771.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 808.62 m. Resuming terminal guidance.
2021-08-14T01:32:51.048Z,1628904771.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T01:32:51.426Z,1628904771.426 [PowerOnly](INFO): Powering down loadControl
2021-08-14T01:32:51.461Z,1628904771.461 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:32:51.462Z,1628904771.462 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:32:51.462Z,1628904771.462 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:32:51.462Z,1628904771.462 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:32:51.463Z,1628904771.463 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:32:51.463Z,1628904771.463 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:32:51.846Z,1628904771.846 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:32:51.846Z,1628904771.846 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:32:51.846Z,1628904771.846 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:32:51.846Z,1628904771.846 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:32:53.451Z,1628904773.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:32:53.830Z,1628904773.830 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:32:53.831Z,1628904773.831 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:32:53.831Z,1628904773.831 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:32:53.832Z,1628904773.832 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:32:54.233Z,1628904774.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,03716,186,80,80,B3,FF
2021-08-14T01:32:54.233Z,1628904774.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:32:54.233Z,1628904774.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:32:54.235Z,1628904774.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:32:54.642Z,1628904774.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:32:55.045Z,1628904775.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,00427,186,80,80,BC,FF
2021-08-14T01:32:55.045Z,1628904775.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:32:55.482Z,1628904775.482 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013255.30*5D

2021-08-14T01:32:55.522Z,1628904775.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.280003 m, bearing: 122.236453 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T01:32:55.523Z,1628904775.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 26.28 m.
2021-08-14T01:32:55.524Z,1628904775.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 122.236453deg and heading rate command to 0 deg/s.
2021-08-14T01:32:55.890Z,1628904775.890 [PowerOnly](INFO): Powering up loadControl
2021-08-14T01:32:55.954Z,1628904775.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:32:55.954Z,1628904775.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:32:55.954Z,1628904775.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:32:55.954Z,1628904775.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:32:55.955Z,1628904775.955 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:32:55.955Z,1628904775.955 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:32:56.358Z,1628904776.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:32:56.358Z,1628904776.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:32:56.358Z,1628904776.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:32:56.359Z,1628904776.359 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:32:57.955Z,1628904777.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:32:58.276Z,1628904778.276 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:32:58.276Z,1628904778.276 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:32:58.277Z,1628904778.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:32:58.278Z,1628904778.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:32:58.683Z,1628904778.683 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,00427,186,80,80,BC,FF
2021-08-14T01:32:58.683Z,1628904778.683 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:32:58.683Z,1628904778.683 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:32:58.685Z,1628904778.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:32:59.173Z,1628904779.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:32:59.485Z,1628904779.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,0045F,187,80,80,41,FF
2021-08-14T01:32:59.485Z,1628904779.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:32:59.542Z,1628904779.542 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:32:59.931Z,1628904779.931 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013259.75*50

2021-08-14T01:32:59.958Z,1628904779.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.639999 m, bearing: 123.316538 deg, deltaT: 4.443767 s, approachRate: 0.756115 m/s, LOS rate: 0.243056 deg/s, posRepo size: 2
2021-08-14T01:32:59.958Z,1628904779.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.64 m.
2021-08-14T01:32:59.960Z,1628904779.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.639999 m,
      bearing: 123.316538 deg,
      approachRate: 0.756115 m/s,
      LOS rate: 0.243056 deg/s,
      cmd update: 0.729169 deg/s,
      cmd heading: 122.236453 deg,
      new cmd heading: 122.236453 deg.

2021-08-14T01:33:02.405Z,1628904782.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:02.798Z,1628904782.798 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:33:02.798Z,1628904782.798 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:33:02.799Z,1628904782.799 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:33:02.799Z,1628904782.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:33:03.121Z,1628904783.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,0045F,187,80,80,41,FF
2021-08-14T01:33:03.121Z,1628904783.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:33:03.121Z,1628904783.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:33:03.123Z,1628904783.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:33:03.532Z,1628904783.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:33:04.382Z,1628904784.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013304.19*53

2021-08-14T01:33:05.183Z,1628904785.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:06.766Z,1628904786.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,187,80,80,41,FF
2021-08-14T01:33:06.767Z,1628904786.767 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,187,80,80,41,FF
2021-08-14T01:33:06.767Z,1628904786.767 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:33:08.026Z,1628904788.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:08.417Z,1628904788.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:33:08.417Z,1628904788.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:33:08.417Z,1628904788.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:33:08.418Z,1628904788.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:33:08.806Z,1628904788.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,187,80,80,41,FF
2021-08-14T01:33:08.806Z,1628904788.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:33:08.806Z,1628904788.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:33:08.807Z,1628904788.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:33:09.185Z,1628904789.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:33:09.590Z,1628904789.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,004C6,186,80,80,9E,FF
2021-08-14T01:33:09.590Z,1628904789.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:33:09.610Z,1628904789.610 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:33:10.042Z,1628904790.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.820000 m, bearing: 143.275840 deg, deltaT: 10.067860 s, approachRate: 0.613835 m/s, LOS rate: 1.982477 deg/s, posRepo size: 3
2021-08-14T01:33:10.042Z,1628904790.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.82 m.
2021-08-14T01:33:10.043Z,1628904790.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.82 m.
2021-08-14T01:33:10.043Z,1628904790.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T01:33:10.064Z,1628904790.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.820000 m,
      bearing: 143.275840 deg,
      approachRate: 0.613835 m/s,
      LOS rate: 1.982477 deg/s,
      cmd update: 5.947432 deg/s,
      cmd heading: 129.586181 deg,
      new cmd heading: 129.902807 deg.

2021-08-14T01:33:12.484Z,1628904792.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:12.829Z,1628904792.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:33:12.830Z,1628904792.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:33:12.830Z,1628904792.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:33:12.831Z,1628904792.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:33:13.240Z,1628904793.240 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,004C6,186,80,80,9E,FF
2021-08-14T01:33:13.241Z,1628904793.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:33:13.242Z,1628904793.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:33:13.247Z,1628904793.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:33:13.634Z,1628904793.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:33:14.448Z,1628904794.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013314.31*58

2021-08-14T01:33:15.266Z,1628904795.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:16.540Z,1628904796.540 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,07E80,184,80,80,57,FF
2021-08-14T01:33:16.541Z,1628904796.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:33:16.581Z,1628904796.581 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:33:16.949Z,1628904796.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1905.540039 m, bearing: 134.790915 deg, deltaT: 6.970752 s, approachRate: 268.223572 m/s, LOS rate: -1.217218 deg/s, posRepo size: 4
2021-08-14T01:33:16.951Z,1628904796.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1905.540039 m,
      bearing: 134.790915 deg,
      approachRate: 268.223572 m/s,
      LOS rate: -1.217218 deg/s,
      cmd update: -3.651654 deg/s,
      cmd heading: 171.044400 deg,
      new cmd heading: 173.249696 deg.

2021-08-14T01:33:17.335Z,1628904797.335 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:33:17.335Z,1628904797.335 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:33:17.336Z,1628904797.336 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:33:17.337Z,1628904797.337 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:33:17.337Z,1628904797.337 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:33:17.337Z,1628904797.337 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:33:17.762Z,1628904797.762 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:33:17.762Z,1628904797.762 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:33:17.763Z,1628904797.763 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:33:17.763Z,1628904797.763 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:33:19.369Z,1628904799.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:19.731Z,1628904799.731 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:33:19.732Z,1628904799.732 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:33:19.733Z,1628904799.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:33:19.735Z,1628904799.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:33:20.137Z,1628904800.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,07E80,184,80,80,57,FF
2021-08-14T01:33:20.137Z,1628904800.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:33:20.137Z,1628904800.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:33:20.139Z,1628904800.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:33:20.540Z,1628904800.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:33:21.378Z,1628904801.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013321.20*5E

2021-08-14T01:33:22.191Z,1628904802.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:23.801Z,1628904803.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,184,80,80,57,FF
2021-08-14T01:33:23.801Z,1628904803.801 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,184,80,80,57,FF
2021-08-14T01:33:23.801Z,1628904803.801 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:33:25.021Z,1628904805.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:25.397Z,1628904805.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:33:25.397Z,1628904805.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:33:25.397Z,1628904805.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:33:25.398Z,1628904805.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:33:25.805Z,1628904805.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,184,80,80,57,FF
2021-08-14T01:33:25.805Z,1628904805.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:33:25.805Z,1628904805.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:33:25.807Z,1628904805.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:33:26.200Z,1628904806.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:33:26.601Z,1628904806.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,0055E,186,80,80,81,FF
2021-08-14T01:33:26.602Z,1628904806.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:33:27.045Z,1628904807.045 [Micromodem](INFO): Nmea in: $SNTTA,0.101775,,,,013326.87*4F

2021-08-14T01:33:27.095Z,1628904807.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.940002 m, bearing: 178.949016 deg, deltaT: 10.060187 s, approachRate: -184.946869 m/s, LOS rate: 4.389392 deg/s, posRepo size: 4
2021-08-14T01:33:27.102Z,1628904807.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.940002 m,
      bearing: 178.949016 deg,
      approachRate: -184.946869 m/s,
      LOS rate: 4.389392 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 134.307195 deg,
      new cmd heading: 132.639054 deg.

2021-08-14T01:33:29.463Z,1628904809.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:29.829Z,1628904809.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:33:29.829Z,1628904809.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:33:29.829Z,1628904809.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:33:29.830Z,1628904809.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:33:30.233Z,1628904810.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,0055E,186,80,80,81,FF
2021-08-14T01:33:30.233Z,1628904810.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:33:30.233Z,1628904810.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:33:30.235Z,1628904810.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:33:30.641Z,1628904810.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:33:31.049Z,1628904811.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,00585,187,80,80,93,FF
2021-08-14T01:33:31.049Z,1628904811.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:33:31.485Z,1628904811.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013331.30*5E

2021-08-14T01:33:31.519Z,1628904811.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.280003 m, bearing: 144.771023 deg, deltaT: 4.465502 s, approachRate: 0.524017 m/s, LOS rate: -7.653785 deg/s, posRepo size: 4
2021-08-14T01:33:31.521Z,1628904811.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.280003 m,
      bearing: 144.771023 deg,
      approachRate: 0.524017 m/s,
      LOS rate: -7.653785 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 187.846049 deg,
      new cmd heading: 192.867090 deg.

2021-08-14T01:33:33.917Z,1628904813.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:34.284Z,1628904814.284 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:33:34.284Z,1628904814.284 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:33:34.285Z,1628904814.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:33:34.287Z,1628904814.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:33:34.677Z,1628904814.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,00585,187,80,80,93,FF
2021-08-14T01:33:34.677Z,1628904814.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:33:34.677Z,1628904814.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:33:34.679Z,1628904814.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:33:35.096Z,1628904815.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:33:35.491Z,1628904815.491 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,005B1,186,80,80,52,FF
2021-08-14T01:33:35.492Z,1628904815.492 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:33:35.929Z,1628904815.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013335.74*5A

2021-08-14T01:33:35.974Z,1628904815.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.920002 m, bearing: 162.199057 deg, deltaT: 4.405040 s, approachRate: 0.599313 m/s, LOS rate: 3.956385 deg/s, posRepo size: 4
2021-08-14T01:33:35.975Z,1628904815.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.920002 m,
      bearing: 162.199057 deg,
      approachRate: 0.599313 m/s,
      LOS rate: 3.956385 deg/s,
      cmd update: 11.869154 deg/s,
      cmd heading: 134.947456 deg,
      new cmd heading: 129.367492 deg.

2021-08-14T01:33:38.425Z,1628904818.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:38.732Z,1628904818.732 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:33:38.732Z,1628904818.732 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:33:38.733Z,1628904818.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:33:38.734Z,1628904818.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:33:39.125Z,1628904819.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,005B1,186,80,80,52,FF
2021-08-14T01:33:39.125Z,1628904819.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:33:39.125Z,1628904819.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:33:39.127Z,1628904819.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:33:39.534Z,1628904819.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:33:39.929Z,1628904819.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,005D9,187,80,80,65,FF
2021-08-14T01:33:39.929Z,1628904819.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:33:40.389Z,1628904820.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013340.19*53

2021-08-14T01:33:40.443Z,1628904820.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.319996 m, bearing: 173.984671 deg, deltaT: 4.483952 s, approachRate: 0.535241 m/s, LOS rate: 2.628399 deg/s, posRepo size: 4
2021-08-14T01:33:40.445Z,1628904820.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.319996 m,
      bearing: 173.984671 deg,
      approachRate: 0.535241 m/s,
      LOS rate: 2.628399 deg/s,
      cmd update: 7.885197 deg/s,
      cmd heading: 188.033068 deg,
      new cmd heading: 193.518647 deg.

2021-08-14T01:33:42.818Z,1628904822.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:43.161Z,1628904823.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:33:43.161Z,1628904823.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:33:43.161Z,1628904823.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:33:43.162Z,1628904823.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:33:43.577Z,1628904823.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,005D9,187,80,80,65,FF
2021-08-14T01:33:43.577Z,1628904823.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:33:43.577Z,1628904823.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:33:43.579Z,1628904823.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:33:43.974Z,1628904823.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:33:44.824Z,1628904824.824 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,010B0,186,80,80,7D,FF
2021-08-14T01:33:44.825Z,1628904824.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:33:44.828Z,1628904824.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013344.65*5C

2021-08-14T01:33:45.227Z,1628904825.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.819992 m, bearing: 176.793846 deg, deltaT: 4.860316 s, approachRate: 34.257030 m/s, LOS rate: 0.577982 deg/s, posRepo size: 4
2021-08-14T01:33:45.228Z,1628904825.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 218.82 m. Rolling out.
2021-08-14T01:33:45.228Z,1628904825.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T01:33:47.655Z,1628904827.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:48.014Z,1628904828.014 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:33:48.014Z,1628904828.014 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:33:48.014Z,1628904828.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:33:48.015Z,1628904828.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:33:48.425Z,1628904828.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,010B0,186,80,80,7D,FF
2021-08-14T01:33:48.425Z,1628904828.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:33:48.425Z,1628904828.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:33:48.427Z,1628904828.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:33:48.821Z,1628904828.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:33:49.229Z,1628904829.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,0062C,186,80,80,6D,FF
2021-08-14T01:33:49.229Z,1628904829.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:33:49.673Z,1628904829.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013349.49*5F

2021-08-14T01:33:49.696Z,1628904829.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.299999 m, bearing: 201.765578 deg, deltaT: 4.392743 s, approachRate: -36.769733 m/s, LOS rate: 5.684769 deg/s, posRepo size: 4
2021-08-14T01:33:52.105Z,1628904832.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:52.462Z,1628904832.462 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:33:52.462Z,1628904832.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:33:52.463Z,1628904832.463 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:33:52.463Z,1628904832.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:33:52.857Z,1628904832.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,0062C,186,80,80,6D,FF
2021-08-14T01:33:52.857Z,1628904832.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:33:52.857Z,1628904832.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:33:52.859Z,1628904832.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:33:53.289Z,1628904833.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:33:53.665Z,1628904833.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB4,000,0063F,189,80,80,95,FF
2021-08-14T01:33:53.665Z,1628904833.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:33:54.113Z,1628904834.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013353.92*52

2021-08-14T01:33:54.142Z,1628904834.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.440002 m, bearing: 230.039870 deg, deltaT: 4.436233 s, approachRate: 0.256976 m/s, LOS rate: 6.373491 deg/s, posRepo size: 4
2021-08-14T01:33:56.545Z,1628904836.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:33:56.897Z,1628904836.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:33:56.897Z,1628904836.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:33:56.897Z,1628904836.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:33:56.898Z,1628904836.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:33:57.301Z,1628904837.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB4,000,0063F,189,80,80,95,FF
2021-08-14T01:33:57.301Z,1628904837.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:33:57.301Z,1628904837.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:33:57.305Z,1628904837.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:33:57.709Z,1628904837.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:33:58.111Z,1628904838.111 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D81,000,0064E,189,80,80,7F,FF
2021-08-14T01:33:58.112Z,1628904838.112 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:33:58.553Z,1628904838.553 [Micromodem](INFO): Nmea in: $SNTTA,0.046485,,,,013358.37*43

2021-08-14T01:33:58.603Z,1628904838.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.340008 m, bearing: 251.951417 deg, deltaT: 4.502257 s, approachRate: 0.199901 m/s, LOS rate: 4.866792 deg/s, posRepo size: 4
2021-08-14T01:34:00.986Z,1628904840.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:01.346Z,1628904841.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:34:01.346Z,1628904841.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:34:01.346Z,1628904841.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:34:01.347Z,1628904841.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:34:01.765Z,1628904841.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D81,000,0064E,189,80,80,7F,FF
2021-08-14T01:34:01.765Z,1628904841.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:34:01.765Z,1628904841.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:34:01.767Z,1628904841.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:34:02.149Z,1628904842.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:34:02.558Z,1628904842.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4F,000,00649,189,80,80,7A,FF
2021-08-14T01:34:02.558Z,1628904842.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:34:02.562Z,1628904842.562 [Micromodem](INFO): Nmea in: $SNTTA,0.166728,0.166609,,,013402.83*53

2021-08-14T01:34:03.007Z,1628904843.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.040001 m, bearing: 268.362367 deg, deltaT: 4.429320 s, approachRate: -0.067732 m/s, LOS rate: 3.705072 deg/s, posRepo size: 4
2021-08-14T01:34:05.413Z,1628904845.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:05.812Z,1628904845.812 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:34:05.813Z,1628904845.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:34:05.813Z,1628904845.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:34:05.814Z,1628904845.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:34:06.197Z,1628904846.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4F,000,00649,189,80,80,7A,FF
2021-08-14T01:34:06.197Z,1628904846.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:34:06.197Z,1628904846.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:34:06.199Z,1628904846.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:34:06.604Z,1628904846.604 [Micromodem](INFO): Nmea in: $SNPGT,10,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:34:06.604Z,1628904846.604 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,10,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B
 expected 6F
2021-08-14T01:34:06.605Z,1628904846.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:34:06.608Z,1628904846.608 [Micromodem](INFO): Nmea in: $CATXP,40*76

2021-08-14T01:34:06.609Z,1628904846.609 [Micromodem](ERROR): Response from modem unexpected: $CATXP,40*76

2021-08-14T01:34:07.005Z,1628904847.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,0063E,185,80,80,B7,FF
2021-08-14T01:34:07.005Z,1628904847.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:34:07.008Z,1628904847.008 [Micromodem](INFO): Nmea in: $CATXF,40*60

2021-08-14T01:34:07.008Z,1628904847.008 [Micromodem](ERROR): Response from modem unexpected: $CATXF,40*60

2021-08-14T01:34:07.011Z,1628904847.011 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,013407.271661,3,0,40,4000,14500,-2,19829,28005,0,0,0,-1,0,0*64

2021-08-14T01:34:07.011Z,1628904847.011 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,013407.271661,3,0,40,4000,14500,-2,19829,28005,0,0,0,-1,0,0*64

2021-08-14T01:34:07.434Z,1628904847.434 [Micromodem](INFO): Nmea in: $CAERR,013407,NI  ,29,Busy completing a previous request*7A

2021-08-14T01:34:07.435Z,1628904847.435 [Micromodem](ERROR): Got error from modem: $CAERR,013407,NI  ,29,Busy completing a previous request*7A

2021-08-14T01:34:07.436Z,1628904847.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013407.27*5A

2021-08-14T01:34:07.436Z,1628904847.436 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,013407.27*5A

2021-08-14T01:34:07.480Z,1628904847.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.380001 m, bearing: 257.876005 deg, deltaT: 4.480217 s, approachRate: -0.147314 m/s, LOS rate: -2.340592 deg/s, posRepo size: 4
2021-08-14T01:34:09.853Z,1628904849.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:10.241Z,1628904850.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:34:10.241Z,1628904850.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:34:10.241Z,1628904850.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:34:10.242Z,1628904850.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:34:10.633Z,1628904850.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,0063E,185,80,80,B7,FF
2021-08-14T01:34:10.633Z,1628904850.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:34:10.633Z,1628904850.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:34:12.364Z,1628904852.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:15.121Z,1628904855.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:16.380Z,1628904856.380 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.137734
2021-08-14T01:34:17.914Z,1628904857.914 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:34:18.022Z,1628904858.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:18.367Z,1628904858.367 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:34:18.382Z,1628904858.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:34:18.382Z,1628904858.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:34:18.383Z,1628904858.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:34:18.395Z,1628904858.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:34:18.717Z,1628904858.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,0063E,185,80,80,B7,FF
2021-08-14T01:34:18.717Z,1628904858.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:34:18.718Z,1628904858.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:34:18.719Z,1628904858.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:34:19.154Z,1628904859.154 [Micromodem](INFO): Nmea in: $CAERR,013419,NI  ,29,Busy completing a previous request*75

2021-08-14T01:34:19.155Z,1628904859.155 [Micromodem](ERROR): Got error from modem: $CAERR,013419,NI  ,29,Busy completing a previous request*75

2021-08-14T01:34:19.156Z,1628904859.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013418.98*50

2021-08-14T01:34:19.156Z,1628904859.156 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,013418.98*50

2021-08-14T01:34:20.795Z,1628904860.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:23.606Z,1628904863.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:24.404Z,1628904864.404 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.021329
2021-08-14T01:34:26.412Z,1628904866.412 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:34:26.428Z,1628904866.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:26.805Z,1628904866.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:34:26.805Z,1628904866.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:34:26.805Z,1628904866.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:34:26.806Z,1628904866.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:34:26.828Z,1628904866.828 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,0063E,185,80,80,B7,FF
2021-08-14T01:34:26.829Z,1628904866.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:34:26.829Z,1628904866.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:34:29.241Z,1628904869.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:30.029Z,1628904870.029 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:34:30.436Z,1628904870.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:34:30.460Z,1628904870.460 [PowerOnly](INFO): Powering down loadControl
2021-08-14T01:34:30.841Z,1628904870.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B2E,000,0063F,189,80,80,50,FF
2021-08-14T01:34:30.842Z,1628904870.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:34:31.280Z,1628904871.280 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013431.10*5B

2021-08-14T01:34:31.325Z,1628904871.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.440002 m, bearing: 295.220529 deg, deltaT: 23.793753 s, approachRate: 0.002522 m/s, LOS rate: 1.569510 deg/s, posRepo size: 4
2021-08-14T01:34:33.682Z,1628904873.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:34.069Z,1628904874.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:34:34.069Z,1628904874.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:34:34.069Z,1628904874.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:34:34.070Z,1628904874.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:34:34.469Z,1628904874.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B2E,000,0063F,189,80,80,50,FF
2021-08-14T01:34:34.469Z,1628904874.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:34:34.469Z,1628904874.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:34:34.471Z,1628904874.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:34:34.896Z,1628904874.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:34:35.282Z,1628904875.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,00648,186,80,80,7D,FF
2021-08-14T01:34:35.282Z,1628904875.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:34:35.740Z,1628904875.740 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013435.54*5F

2021-08-14T01:34:35.790Z,1628904875.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.980000 m, bearing: 221.123850 deg, deltaT: 4.434649 s, approachRate: 0.121768 m/s, LOS rate: -16.708577 deg/s, posRepo size: 4
2021-08-14T01:34:36.520Z,1628904876.520 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:34:38.169Z,1628904878.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:38.517Z,1628904878.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:34:38.517Z,1628904878.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:34:38.517Z,1628904878.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:34:38.517Z,1628904878.517 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:34:38.917Z,1628904878.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,00648,186,80,80,7D,FF
2021-08-14T01:34:38.917Z,1628904878.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:34:38.917Z,1628904878.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:34:38.919Z,1628904878.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:34:39.339Z,1628904879.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:34:39.751Z,1628904879.751 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8D,000,0064F,189,80,80,AD,FF
2021-08-14T01:34:39.753Z,1628904879.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:34:40.169Z,1628904880.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013439.99*52

2021-08-14T01:34:40.188Z,1628904880.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.400002 m, bearing: 264.535685 deg, deltaT: 4.484622 s, approachRate: 0.093654 m/s, LOS rate: 9.680155 deg/s, posRepo size: 4
2021-08-14T01:34:42.614Z,1628904882.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:42.969Z,1628904882.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:34:42.969Z,1628904882.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:34:42.969Z,1628904882.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:34:42.970Z,1628904882.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:34:43.369Z,1628904883.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8D,000,0064F,189,80,80,AD,FF
2021-08-14T01:34:43.369Z,1628904883.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:34:43.370Z,1628904883.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:34:43.371Z,1628904883.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:34:43.809Z,1628904883.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:34:44.178Z,1628904884.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBE,000,0065D,18A,80,80,81,FF
2021-08-14T01:34:44.179Z,1628904884.179 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:34:44.589Z,1628904884.589 [Micromodem](INFO): Nmea in: $SNTTA,0.365031,0.364400,,,013444.44*5F

2021-08-14T01:34:44.635Z,1628904884.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.240002 m, bearing: 262.403054 deg, deltaT: 4.387890 s, approachRate: 0.191436 m/s, LOS rate: -0.486027 deg/s, posRepo size: 4
2021-08-14T01:34:47.037Z,1628904887.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:47.413Z,1628904887.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:34:47.413Z,1628904887.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:34:47.413Z,1628904887.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:34:47.414Z,1628904887.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:34:47.817Z,1628904887.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBE,000,0065D,18A,80,80,81,FF
2021-08-14T01:34:47.817Z,1628904887.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:34:47.817Z,1628904887.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:34:47.819Z,1628904887.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:34:48.213Z,1628904888.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:34:48.629Z,1628904888.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,00673,189,80,80,74,FF
2021-08-14T01:34:48.630Z,1628904888.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:34:49.045Z,1628904889.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013448.89*55

2021-08-14T01:34:49.081Z,1628904889.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.560005 m, bearing: 199.255237 deg, deltaT: 4.514151 s, approachRate: 0.292415 m/s, LOS rate: -13.988858 deg/s, posRepo size: 4
2021-08-14T01:34:51.466Z,1628904891.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:51.858Z,1628904891.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:34:51.858Z,1628904891.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:34:51.858Z,1628904891.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:34:51.859Z,1628904891.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:34:52.256Z,1628904892.256 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B4,000,00673,189,80,80,74,FF
2021-08-14T01:34:52.256Z,1628904892.256 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:34:52.256Z,1628904892.256 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:34:52.258Z,1628904892.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:34:52.681Z,1628904892.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:34:53.069Z,1628904893.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D4,000,00682,188,80,80,7C,FF
2021-08-14T01:34:53.070Z,1628904893.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:34:53.509Z,1628904893.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013453.33*5E

2021-08-14T01:34:53.529Z,1628904893.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.459999 m, bearing: 184.656992 deg, deltaT: 4.420405 s, approachRate: 0.203600 m/s, LOS rate: -3.302468 deg/s, posRepo size: 4
2021-08-14T01:34:55.942Z,1628904895.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:34:56.343Z,1628904896.343 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:34:56.343Z,1628904896.343 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:34:56.343Z,1628904896.343 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:34:56.343Z,1628904896.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:34:56.392Z,1628904896.392 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-14T01:34:56.694Z,1628904896.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D4,000,00682,188,80,80,7C,FF
2021-08-14T01:34:56.694Z,1628904896.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:34:56.694Z,1628904896.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:34:56.697Z,1628904896.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:34:57.111Z,1628904897.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:34:57.506Z,1628904897.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5D,000,00692,189,80,80,79,FF
2021-08-14T01:34:57.506Z,1628904897.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:34:57.942Z,1628904897.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013457.76*5B

2021-08-14T01:34:57.967Z,1628904897.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.420006 m, bearing: 280.099993 deg, deltaT: 4.434578 s, approachRate: 0.216482 m/s, LOS rate: 21.522454 deg/s, posRepo size: 4
2021-08-14T01:35:00.425Z,1628904900.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:00.756Z,1628904900.756 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:35:00.757Z,1628904900.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:35:00.758Z,1628904900.758 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:35:00.759Z,1628904900.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:35:01.141Z,1628904901.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5D,000,00692,189,80,80,79,FF
2021-08-14T01:35:01.141Z,1628904901.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:35:01.141Z,1628904901.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:35:01.143Z,1628904901.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:35:01.561Z,1628904901.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:35:01.953Z,1628904901.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFD,000,006AE,189,80,80,A8,FF
2021-08-14T01:35:01.953Z,1628904901.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:35:02.409Z,1628904902.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013502.21*58

2021-08-14T01:35:02.470Z,1628904902.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.100006 m, bearing: 271.647879 deg, deltaT: 4.465164 s, approachRate: 0.376246 m/s, LOS rate: -1.892901 deg/s, posRepo size: 4
2021-08-14T01:35:04.869Z,1628904904.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:05.189Z,1628904905.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:35:05.189Z,1628904905.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:35:05.189Z,1628904905.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:35:05.190Z,1628904905.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:35:05.627Z,1628904905.627 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFD,000,006AE,189,80,80,A8,FF
2021-08-14T01:35:05.627Z,1628904905.627 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:35:05.627Z,1628904905.627 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:35:05.638Z,1628904905.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:35:06.004Z,1628904906.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:35:06.413Z,1628904906.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D63,000,006C2,189,80,80,81,FF
2021-08-14T01:35:06.413Z,1628904906.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:35:06.839Z,1628904906.839 [Micromodem](INFO): Nmea in: $SNTTA,0.050804,,,,013506.71*4E

2021-08-14T01:35:06.881Z,1628904906.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.300003 m, bearing: 266.433604 deg, deltaT: 4.475095 s, approachRate: 0.268150 m/s, LOS rate: -1.165176 deg/s, posRepo size: 4
2021-08-14T01:35:09.239Z,1628904909.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:09.625Z,1628904909.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:35:09.625Z,1628904909.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:35:09.625Z,1628904909.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:35:09.626Z,1628904909.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:35:10.034Z,1628904910.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D63,000,006C2,189,80,80,81,FF
2021-08-14T01:35:10.034Z,1628904910.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:35:10.034Z,1628904910.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:35:10.035Z,1628904910.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:35:10.456Z,1628904910.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:35:10.841Z,1628904910.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,006DD,187,80,80,A7,FF
2021-08-14T01:35:10.842Z,1628904910.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:35:11.286Z,1628904911.286 [Micromodem](INFO): Nmea in: $SNTTA,0.033946,,,,013511.10*4D

2021-08-14T01:35:11.376Z,1628904911.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.920006 m, bearing: 258.061841 deg, deltaT: 4.404351 s, approachRate: 0.367819 m/s, LOS rate: -1.900794 deg/s, posRepo size: 4
2021-08-14T01:35:13.699Z,1628904913.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:14.073Z,1628904914.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:35:14.073Z,1628904914.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:35:14.073Z,1628904914.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:35:14.074Z,1628904914.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:35:14.474Z,1628904914.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,006DD,187,80,80,A7,FF
2021-08-14T01:35:14.474Z,1628904914.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:35:14.474Z,1628904914.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:35:14.475Z,1628904914.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:35:14.885Z,1628904914.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:35:15.285Z,1628904915.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E69,000,006F9,186,80,80,A4,FF
2021-08-14T01:35:15.285Z,1628904915.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:35:15.714Z,1628904915.714 [Micromodem](INFO): Nmea in: $SNTTA,0.055840,,,,013515.54*4E

2021-08-14T01:35:15.786Z,1628904915.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.600006 m, bearing: 253.232351 deg, deltaT: 4.393802 s, approachRate: 0.382357 m/s, LOS rate: -1.099160 deg/s, posRepo size: 4
2021-08-14T01:35:18.147Z,1628904918.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:18.517Z,1628904918.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:35:18.517Z,1628904918.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:35:18.517Z,1628904918.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:35:18.518Z,1628904918.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:35:18.917Z,1628904918.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E69,000,006F9,186,80,80,A4,FF
2021-08-14T01:35:18.917Z,1628904918.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:35:18.918Z,1628904918.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:35:18.919Z,1628904918.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:35:19.325Z,1628904919.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:35:19.724Z,1628904919.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,00715,185,80,80,B5,FF
2021-08-14T01:35:19.726Z,1628904919.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:35:20.170Z,1628904920.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013519.99*51

2021-08-14T01:35:20.196Z,1628904920.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.280006 m, bearing: 250.628191 deg, deltaT: 4.478646 s, approachRate: 0.375113 m/s, LOS rate: -0.581461 deg/s, posRepo size: 4
2021-08-14T01:35:22.611Z,1628904922.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:22.961Z,1628904922.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:35:22.961Z,1628904922.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:35:22.961Z,1628904922.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:35:22.962Z,1628904922.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:35:23.371Z,1628904923.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,00715,185,80,80,B5,FF
2021-08-14T01:35:23.372Z,1628904923.372 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:35:23.372Z,1628904923.372 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:35:23.373Z,1628904923.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:35:23.801Z,1628904923.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:35:24.177Z,1628904924.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,00735,187,80,80,9A,FF
2021-08-14T01:35:24.177Z,1628904924.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:35:24.609Z,1628904924.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013524.44*5F

2021-08-14T01:35:24.655Z,1628904924.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.199997 m, bearing: 249.246034 deg, deltaT: 4.412113 s, approachRate: 0.435163 m/s, LOS rate: -0.313264 deg/s, posRepo size: 4
2021-08-14T01:35:27.044Z,1628904927.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:27.409Z,1628904927.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:35:27.409Z,1628904927.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:35:27.409Z,1628904927.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:35:27.410Z,1628904927.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:35:27.813Z,1628904927.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,00735,187,80,80,9A,FF
2021-08-14T01:35:27.813Z,1628904927.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:35:27.813Z,1628904927.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:35:27.815Z,1628904927.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:35:28.223Z,1628904928.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:35:28.613Z,1628904928.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00756,186,80,80,75,FF
2021-08-14T01:35:28.613Z,1628904928.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:35:29.062Z,1628904929.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013528.88*53

2021-08-14T01:35:29.095Z,1628904929.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.180008 m, bearing: 221.450278 deg, deltaT: 4.503965 s, approachRate: 0.439615 m/s, LOS rate: -6.171397 deg/s, posRepo size: 4
2021-08-14T01:35:31.470Z,1628904931.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:31.845Z,1628904931.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:35:31.845Z,1628904931.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:35:31.845Z,1628904931.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:35:31.846Z,1628904931.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:35:32.256Z,1628904932.256 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00756,186,80,80,75,FF
2021-08-14T01:35:32.256Z,1628904932.256 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:35:32.256Z,1628904932.256 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:35:32.258Z,1628904932.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:35:32.661Z,1628904932.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:35:33.053Z,1628904933.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,00774,186,80,80,5D,FF
2021-08-14T01:35:33.054Z,1628904933.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:35:33.499Z,1628904933.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.980003 m, bearing: 222.473195 deg, deltaT: 4.387992 s, approachRate: 0.410209 m/s, LOS rate: 0.233117 deg/s, posRepo size: 4
2021-08-14T01:35:35.929Z,1628904935.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:36.296Z,1628904936.296 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:35:36.297Z,1628904936.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:35:36.297Z,1628904936.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:35:36.299Z,1628904936.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:35:36.693Z,1628904936.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,00774,186,80,80,5D,FF
2021-08-14T01:35:36.693Z,1628904936.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:35:36.693Z,1628904936.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:35:36.695Z,1628904936.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:35:36.786Z,1628904936.786 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude
2021-08-14T01:35:37.105Z,1628904937.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D46,000,01091,18A,80,80,5D,FF
2021-08-14T01:35:37.105Z,1628904937.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:35:37.549Z,1628904937.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.959991 m, bearing: 267.231479 deg, deltaT: 4.042012 s, approachRate: 34.631264 m/s, LOS rate: 11.073268 deg/s, posRepo size: 4
2021-08-14T01:35:39.953Z,1628904939.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:40.373Z,1628904940.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:35:40.373Z,1628904940.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:35:40.373Z,1628904940.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:35:40.374Z,1628904940.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:35:40.738Z,1628904940.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D46,000,01091,18A,80,80,5D,FF
2021-08-14T01:35:40.739Z,1628904940.739 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:35:40.739Z,1628904940.739 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:35:41.137Z,1628904941.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB7,000,00B98,189,80,80,8E,FF
2021-08-14T01:35:41.137Z,1628904941.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:35:41.575Z,1628904941.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.580002 m, bearing: 261.579306 deg, deltaT: 4.026312 s, approachRate: -18.970211 m/s, LOS rate: -1.403809 deg/s, posRepo size: 4
2021-08-14T01:35:44.003Z,1628904944.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:44.389Z,1628904944.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:35:44.389Z,1628904944.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:35:44.389Z,1628904944.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:35:44.390Z,1628904944.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:35:44.805Z,1628904944.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB7,000,00B98,189,80,80,8E,FF
2021-08-14T01:35:44.805Z,1628904944.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:35:44.805Z,1628904944.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:35:46.837Z,1628904946.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:47.595Z,1628904947.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,8E,FF
2021-08-14T01:35:47.595Z,1628904947.595 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,8E,FF
2021-08-14T01:35:47.595Z,1628904947.595 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:35:48.018Z,1628904948.018 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:35:49.670Z,1628904949.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:50.025Z,1628904950.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:35:50.025Z,1628904950.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:35:50.025Z,1628904950.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:35:50.026Z,1628904950.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:35:50.441Z,1628904950.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,8E,FF
2021-08-14T01:35:50.441Z,1628904950.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:35:50.441Z,1628904950.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:35:52.522Z,1628904952.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:53.265Z,1628904953.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,8E,FF
2021-08-14T01:35:53.265Z,1628904953.265 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,8E,FF
2021-08-14T01:35:53.266Z,1628904953.266 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:35:55.312Z,1628904955.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:55.692Z,1628904955.692 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:35:55.692Z,1628904955.692 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:35:55.693Z,1628904955.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:35:55.693Z,1628904955.693 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:35:56.095Z,1628904956.095 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,8E,FF
2021-08-14T01:35:56.095Z,1628904956.095 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:35:56.095Z,1628904956.095 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:35:58.126Z,1628904958.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:35:58.511Z,1628904958.511 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,074
8,189,80,80,8E,FF
2021-08-14T01:35:58.511Z,1628904958.511 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,EC9,000,074
8,189,80,80,8E,FF
2021-08-14T01:35:59.322Z,1628904959.322 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:35:59.722Z,1628904959.722 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-14T01:35:59.722Z,1628904959.722 [Micromodem] Hardware Fault, FailCount= 1
2021-08-14T01:35:59.722Z,1628904959.722 [Micromodem](ERROR): Hardware Fault
2021-08-14T01:35:59.783Z,1628904959.783 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T01:35:59.783Z,1628904959.783 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T01:35:59.783Z,1628904959.783 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T01:35:59.784Z,1628904959.783 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T01:35:59.792Z,1628904959.792 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T01:35:59.904Z,1628904959.904 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-14T01:36:00.150Z,1628904960.150 [Micromodem](INFO): Powering down
2021-08-14T01:36:01.007Z,1628904961.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:01.128Z,1628904961.128 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-14T01:36:01.128Z,1628904961.128 [Micromodem] No Fault, FailCount= 1
2021-08-14T01:36:01.788Z,1628904961.788 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.094622
2021-08-14T01:36:03.818Z,1628904963.818 [Micromodem](INFO): Powering up
2021-08-14T01:36:03.818Z,1628904963.818 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-14T01:36:03.870Z,1628904963.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:04.217Z,1628904964.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:36:04.217Z,1628904964.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:36:04.217Z,1628904964.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:36:04.218Z,1628904964.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:36:04.609Z,1628904964.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,074
8,189,80,80,8E,FF
2021-08-14T01:36:04.609Z,1628904964.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:36:04.610Z,1628904964.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:36:05.026Z,1628904965.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,00D21,187,80,80,6F,FF
2021-08-14T01:36:05.026Z,1628904965.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:36:05.461Z,1628904965.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.160004 m, bearing: 238.461903 deg, deltaT: 23.945605 s, approachRate: 0.984732 m/s, LOS rate: -0.965413 deg/s, posRepo size: 4
2021-08-14T01:36:07.928Z,1628904967.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:08.289Z,1628904968.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:36:08.290Z,1628904968.290 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:36:08.290Z,1628904968.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:36:08.291Z,1628904968.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:36:08.706Z,1628904968.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,00D21,187,80,80,6F,FF
2021-08-14T01:36:08.707Z,1628904968.707 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:36:08.707Z,1628904968.707 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:36:10.327Z,1628904970.327 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:36:10.441Z,1628904970.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:10.763Z,1628904970.763 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-14T01:36:10.764Z,1628904970.764 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T01:36:10.764Z,1628904970.764 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T01:36:10.920Z,1628904970.920 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T01:36:11.125Z,1628904971.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,07080,186,80,80,99,FF
2021-08-14T01:36:11.125Z,1628904971.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:36:11.196Z,1628904971.196 [RDI_Pathfinder](INFO): Powering down
2021-08-14T01:36:11.583Z,1628904971.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1690.500000 m, bearing: 246.271978 deg, deltaT: 6.119129 s, approachRate: 249.437454 m/s, LOS rate: 1.276338 deg/s, posRepo size: 4
2021-08-14T01:36:11.583Z,1628904971.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1690.50 m. Resuming terminal guidance.
2021-08-14T01:36:11.583Z,1628904971.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T01:36:11.950Z,1628904971.950 [Micromodem](INFO): Nmea in: $CATMG,2021-08-14T01:36:10.888508Z,RTC,RTC*5C

2021-08-14T01:36:11.951Z,1628904971.951 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-14T01:36:10.888508Z,RTC,RTC*5C

2021-08-14T01:36:12.116Z,1628904972.116 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T01:36:12.116Z,1628904972.116 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T01:36:12.363Z,1628904972.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:36:12.376Z,1628904972.376 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-14T01:36:12.759Z,1628904972.759 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-14T01:36:12.761Z,1628904972.761 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-14T01:36:13.178Z,1628904973.178 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-14T01:36:13.178Z,1628904973.178 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-14T01:36:13.577Z,1628904973.577 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-14T01:36:13.577Z,1628904973.577 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-14T01:36:13.987Z,1628904973.987 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-14T01:36:13.987Z,1628904973.987 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-14T01:36:14.066Z,1628904974.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:14.381Z,1628904974.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:36:14.381Z,1628904974.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:36:14.381Z,1628904974.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:36:14.382Z,1628904974.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:36:14.405Z,1628904974.405 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-14T01:36:14.405Z,1628904974.405 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-14T01:36:14.802Z,1628904974.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,07080,186,80,80,99,FF
2021-08-14T01:36:14.802Z,1628904974.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:36:14.803Z,1628904974.803 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:36:14.805Z,1628904974.805 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-14T01:36:14.805Z,1628904974.805 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-14T01:36:15.222Z,1628904975.222 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-14T01:36:15.222Z,1628904975.222 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-14T01:36:15.639Z,1628904975.639 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-14T01:36:15.640Z,1628904975.640 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,14,01,36,16*4B

2021-08-14T01:36:16.035Z,1628904976.035 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modlation Header,0*31

2021-08-14T01:36:16.035Z,1628904976.035 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAMSG,Bad Modlation Header,0*31
 expected 44
2021-08-14T01:36:16.035Z,1628904976.035 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,14,01,36,16*4B

2021-08-14T01:36:16.457Z,1628904976.457 [Micromodem](INFO): Nmea in: $CACLK,2021,8,14,1,36,16*49

2021-08-14T01:36:16.463Z,1628904976.463 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814013616.105233,05,189,10,0097,0150,149,02,02,02,02,-1,-01,-01,1,3,1,0,150,18.5,0.73,-100,2.27,-01,0.18,56,25000,5000*48

2021-08-14T01:36:16.636Z,1628904976.636 [Micromodem](INFO): Outgoing frame #1, 60 bytes: CC1017611C0000005D00000400260000000000000000151D80030C5669C08C79985BACBB7B005AB4E8BF65FBB6D7646DD093113F9B5316D9A7086A00
2021-08-14T01:36:16.637Z,1628904976.637 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:36:16.704Z,1628904976.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:16.704Z,1628904976.704 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T01:36:16.704Z,1628904976.704 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T01:36:16.705Z,1628904976.705 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T01:36:16.705Z,1628904976.705 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T01:36:16.705Z,1628904976.705 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T01:36:17.256Z,1628904977.256 [Micromodem](INFO): Nmea in: $AMS,,202108-14T01:36:17Z*78

2021-08-14T01:36:17.257Z,1628904977.257 [Micromodem](ERROR): Response from modem failed NMEA checksum: $AMS,,202108-14T01:36:17Z*78
 expected 72
2021-08-14T01:36:17.257Z,1628904977.257 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:36:17.264Z,1628904977.264 [Micromodem](INFO): Nmea in: $CACLK,2021,8,14,1,36,16*49

2021-08-14T01:36:17.265Z,1628904977.265 [Micromodem](ERROR): Response from modem unexpected: $CACLK,2021,8,14,1,36,16*49

2021-08-14T01:36:17.651Z,1628904977.651 [Micromodem](INFO): Nmea in: $CATMG,2021-08-14T01:36:17.026809Z,USER_CMD,RTC*1A

2021-08-14T01:36:17.652Z,1628904977.652 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-14T01:36:17.026809Z,USER_CMD,RTC*1A

2021-08-14T01:36:17.653Z,1628904977.653 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:36:18.055Z,1628904978.055 [Micromodem](INFO): Nmea in: $CADRQ,013617,1,10,0,64,1*74

2021-08-14T01:36:18.057Z,1628904978.057 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC1017611C0000005D00000400260000000000000000151D80030C5669C08C79985BACBB7B005AB4E8BF65FBB6D7646DD093113F9B5316D9A7086A00*46

2021-08-14T01:36:18.063Z,1628904978.063 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-14T01:36:17Z*78

2021-08-14T01:36:18.065Z,1628904978.065 [Micromodem](ERROR): TXD response from modem unexpected: $CATMS,0,2021-08-14T01:36:17Z*78

2021-08-14T01:36:18.455Z,1628904978.455 [Micromodem](INFO): Nmea in: $CATMG,2021-08-14T01:36:17.027957Z,USER_CMD,RTC*11

2021-08-14T01:36:18.455Z,1628904978.455 [Micromodem](ERROR): TXD response from modem unexpected: $CATMG,2021-08-14T01:36:17.027957Z,USER_CMD,RTC*11

2021-08-14T01:36:18.456Z,1628904978.456 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:36:18.457Z,1628904978.457 [Micromodem](ERROR): TXD response from modem unexpected: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:36:18.873Z,1628904978.873 [Micromodem](INFO): Nmea in: $CADRQ,013617,1,10,0,64,1*74

2021-08-14T01:36:18.873Z,1628904978.873 [Micromodem](ERROR): TXD response from modem unexpected: $CADRQ,013617,1,10,0,64,1*74

2021-08-14T01:36:18.874Z,1628904978.874 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T01:36:19.262Z,1628904979.262 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T01:36:19.498Z,1628904979.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:20.073Z,1628904980.073 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T01:36:20.496Z,1628904980.496 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.113878
2021-08-14T01:36:20.500Z,1628904980.500 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,013618.178970,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*59

2021-08-14T01:36:22.151Z,1628904982.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:22.497Z,1628904982.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:36:22.497Z,1628904982.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:36:22.497Z,1628904982.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:36:22.498Z,1628904982.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:36:22.910Z,1628904982.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,07080,186,80,80,99,FF
2021-08-14T01:36:22.910Z,1628904982.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:36:22.910Z,1628904982.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:36:22.917Z,1628904982.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:36:23.300Z,1628904983.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:36:23.709Z,1628904983.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,00923,186,80,80,7C,FF
2021-08-14T01:36:23.710Z,1628904983.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:36:24.129Z,1628904984.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013622.98*5B

2021-08-14T01:36:24.177Z,1628904984.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.840004 m, bearing: 245.191060 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T01:36:24.178Z,1628904984.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 245.191060deg and heading rate command to 0 deg/s.
2021-08-14T01:36:26.413Z,1628904986.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:26.736Z,1628904986.736 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:36:26.737Z,1628904986.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:36:26.737Z,1628904986.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:36:26.739Z,1628904986.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:36:27.134Z,1628904987.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,00923,186,80,80,7C,FF
2021-08-14T01:36:27.134Z,1628904987.134 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:36:27.134Z,1628904987.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:36:27.152Z,1628904987.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:36:27.540Z,1628904987.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:36:27.949Z,1628904987.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F23,000,0094B,187,80,80,65,FF
2021-08-14T01:36:27.949Z,1628904987.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:36:28.377Z,1628904988.377 [Micromodem](INFO): Nmea in: $SNTTA,0.099261,,,,013627.22*44

2021-08-14T01:36:28.420Z,1628904988.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.240005 m, bearing: 244.805045 deg, deltaT: 4.220854 s, approachRate: 0.568606 m/s, LOS rate: -0.091454 deg/s, posRepo size: 2
2021-08-14T01:36:28.422Z,1628904988.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.240005 m,
      bearing: 244.805045 deg,
      approachRate: 0.568606 m/s,
      LOS rate: -0.091454 deg/s,
      cmd update: -0.274363 deg/s,
      cmd heading: 245.191060 deg,
      new cmd heading: 245.191060 deg.

2021-08-14T01:36:30.879Z,1628904990.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:31.181Z,1628904991.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:36:31.181Z,1628904991.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:36:31.181Z,1628904991.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:36:31.182Z,1628904991.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:36:31.577Z,1628904991.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F23,000,0094B,187,80,80,65,FF
2021-08-14T01:36:31.577Z,1628904991.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:36:31.577Z,1628904991.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:36:31.579Z,1628904991.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:36:31.989Z,1628904991.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:36:32.393Z,1628904992.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCA,000,0096C,18A,80,80,30,FF
2021-08-14T01:36:32.393Z,1628904992.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:36:32.845Z,1628904992.845 [Micromodem](INFO): Nmea in: $SNTTA,0.142514,,,,013631.64*43

2021-08-14T01:36:32.919Z,1628904992.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.220001 m, bearing: 288.198712 deg, deltaT: 4.469840 s, approachRate: 0.442968 m/s, LOS rate: 9.708103 deg/s, posRepo size: 3
2021-08-14T01:36:32.925Z,1628904992.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.220001 m,
      bearing: 288.198712 deg,
      approachRate: 0.442968 m/s,
      LOS rate: 9.708103 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 243.974292 deg,
      new cmd heading: 243.834853 deg.

2021-08-14T01:36:35.254Z,1628904995.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:35.629Z,1628904995.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:36:35.629Z,1628904995.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:36:35.629Z,1628904995.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:36:35.630Z,1628904995.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:36:36.025Z,1628904996.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCA,000,0096C,18A,80,80,30,FF
2021-08-14T01:36:36.025Z,1628904996.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:36:36.025Z,1628904996.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:36:36.027Z,1628904996.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:36:36.480Z,1628904996.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:36:36.841Z,1628904996.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,0098C,184,80,80,77,FF
2021-08-14T01:36:36.842Z,1628904996.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:36:36.845Z,1628904996.845 [Micromodem](INFO): Nmea in: $SNTTA,0.072329,0.157073,,,013636.09*5C

2021-08-14T01:36:37.273Z,1628904997.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.139999 m, bearing: 249.878810 deg, deltaT: 4.404642 s, approachRate: 0.435903 m/s, LOS rate: -8.699890 deg/s, posRepo size: 4
2021-08-14T01:36:37.275Z,1628904997.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.139999 m,
      bearing: 249.878810 deg,
      approachRate: 0.435903 m/s,
      LOS rate: -8.699890 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 297.490202 deg,
      new cmd heading: 302.318594 deg.

2021-08-14T01:36:39.686Z,1628904999.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:40.069Z,1628905000.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:36:40.069Z,1628905000.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:36:40.070Z,1628905000.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:36:40.070Z,1628905000.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:36:40.500Z,1628905000.500 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,0098C,184,80,80,77,FF
2021-08-14T01:36:40.500Z,1628905000.500 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:36:40.500Z,1628905000.500 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:36:40.502Z,1628905000.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:36:40.885Z,1628905000.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:36:41.269Z,1628905001.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,00778,189,80,80,81,FF
2021-08-14T01:36:41.269Z,1628905001.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:36:41.708Z,1628905001.708 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013640.57*5C

2021-08-14T01:36:41.778Z,1628905001.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.220001 m, bearing: 297.133993 deg, deltaT: 4.444022 s, approachRate: -7.182683 m/s, LOS rate: 10.633427 deg/s, posRepo size: 4
2021-08-14T01:36:41.781Z,1628905001.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.220001 m,
      bearing: 297.133993 deg,
      approachRate: -7.182683 m/s,
      LOS rate: 10.633427 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 244.213080 deg,
      new cmd heading: 238.591787 deg.

2021-08-14T01:36:44.138Z,1628905004.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:44.538Z,1628905004.538 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:36:44.538Z,1628905004.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:36:44.538Z,1628905004.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:36:44.539Z,1628905004.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:36:44.917Z,1628905004.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,00778,189,80,80,81,FF
2021-08-14T01:36:44.917Z,1628905004.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:36:44.917Z,1628905004.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:36:44.919Z,1628905004.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:36:45.313Z,1628905005.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:36:45.756Z,1628905005.756 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,234,000,009B3,188,80,80,8A,FF
2021-08-14T01:36:45.758Z,1628905005.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:36:46.145Z,1628905006.145 [Micromodem](INFO): Nmea in: $SNTTA,0.076717,,,,013644.99*44

2021-08-14T01:36:46.179Z,1628905006.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.480003 m, bearing: 252.078295 deg, deltaT: 4.510918 s, approachRate: 7.594907 m/s, LOS rate: -9.988144 deg/s, posRepo size: 4
2021-08-14T01:36:46.181Z,1628905006.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.480003 m,
      bearing: 252.078295 deg,
      approachRate: 7.594907 m/s,
      LOS rate: -9.988144 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 298.007869 deg,
      new cmd heading: 302.641502 deg.

2021-08-14T01:36:48.597Z,1628905008.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:48.957Z,1628905008.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:36:48.957Z,1628905008.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:36:48.957Z,1628905008.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:36:48.958Z,1628905008.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:36:49.362Z,1628905009.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
234,000,009B3,188,80,80,8A,FF
2021-08-14T01:36:49.362Z,1628905009.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:36:49.362Z,1628905009.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:36:49.365Z,1628905009.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:36:49.796Z,1628905009.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:36:49.808Z,1628905009.808 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T01:36:50.161Z,1628905010.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C63,000,009C5,189,80,80,73,FF
2021-08-14T01:36:50.162Z,1628905010.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:36:50.593Z,1628905010.593 [Micromodem](INFO): Nmea in: $SNTTA,0.446082,0.446082,,,013649.43*50

2021-08-14T01:36:50.653Z,1628905010.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.560005 m, bearing: 315.112116 deg, deltaT: 4.358664 s, approachRate: 0.247783 m/s, LOS rate: 14.461730 deg/s, posRepo size: 4
2021-08-14T01:36:50.654Z,1628905010.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.461730 deg/s. Setting heading cmd to target bearing of 315.112116deg and heading rate command to 0 deg/s.
2021-08-14T01:36:53.038Z,1628905013.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:53.401Z,1628905013.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:36:53.401Z,1628905013.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:36:53.401Z,1628905013.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:36:53.402Z,1628905013.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:36:53.821Z,1628905013.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C63,000,009C5,189,80,80,73,FF
2021-08-14T01:36:53.821Z,1628905013.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:36:53.822Z,1628905013.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:36:53.823Z,1628905013.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:36:54.216Z,1628905014.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:36:54.611Z,1628905014.611 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B4D,000,009DB,18A,80,80,73,FF
2021-08-14T01:36:54.611Z,1628905014.611 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:36:55.033Z,1628905015.033 [Micromodem](INFO): Nmea in: $SNTTA,0.077892,,,,013653.89*40

2021-08-14T01:36:55.071Z,1628905015.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.879997 m, bearing: 336.710950 deg, deltaT: 4.491982 s, approachRate: 0.293855 m/s, LOS rate: 4.808308 deg/s, posRepo size: 4
2021-08-14T01:36:55.077Z,1628905015.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.879997 m,
      bearing: 336.710950 deg,
      approachRate: 0.293855 m/s,
      LOS rate: 4.808308 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 315.112116 deg,
      new cmd heading: 315.112116 deg.

2021-08-14T01:36:57.463Z,1628905017.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:36:57.834Z,1628905017.834 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:36:57.834Z,1628905017.834 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:36:57.834Z,1628905017.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:36:57.835Z,1628905017.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:36:58.241Z,1628905018.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B4D,000,009DB,18A,80,80,73,FF
2021-08-14T01:36:58.241Z,1628905018.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:36:58.241Z,1628905018.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:36:58.243Z,1628905018.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:36:58.661Z,1628905018.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:36:59.049Z,1628905019.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,009E6,188,80,80,55,FF
2021-08-14T01:36:59.049Z,1628905019.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:36:59.498Z,1628905019.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013658.31*55

2021-08-14T01:36:59.519Z,1628905019.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.540001 m, bearing: 249.662730 deg, deltaT: 4.444353 s, approachRate: 0.148504 m/s, LOS rate: -19.586252 deg/s, posRepo size: 4
2021-08-14T01:36:59.540Z,1628905019.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.586252 deg/s. Setting heading cmd to target bearing of 249.662730deg and heading rate command to 0 deg/s.
2021-08-14T01:37:01.951Z,1628905021.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:37:02.289Z,1628905022.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:37:02.289Z,1628905022.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:37:02.289Z,1628905022.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:37:02.290Z,1628905022.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:37:02.681Z,1628905022.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,009E6,188,80,80,55,FF
2021-08-14T01:37:02.681Z,1628905022.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:37:02.681Z,1628905022.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:37:02.683Z,1628905022.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:37:03.089Z,1628905023.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:37:03.489Z,1628905023.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,009E8,186,80,80,A6,FF
2021-08-14T01:37:03.490Z,1628905023.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:37:03.937Z,1628905023.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013702.75*5B

2021-08-14T01:37:03.973Z,1628905023.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.659996 m, bearing: 328.161001 deg, deltaT: 4.425075 s, approachRate: 0.027117 m/s, LOS rate: 17.739422 deg/s, posRepo size: 4
2021-08-14T01:37:03.974Z,1628905023.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.739422 deg/s. Setting heading cmd to target bearing of 328.161001deg and heading rate command to 0 deg/s.
2021-08-14T01:37:06.367Z,1628905026.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:37:06.722Z,1628905026.722 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:37:06.722Z,1628905026.722 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:37:06.723Z,1628905026.723 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:37:06.724Z,1628905026.724 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:37:07.125Z,1628905027.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,009E8,186,80,80,A6,FF
2021-08-14T01:37:07.125Z,1628905027.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:37:07.125Z,1628905027.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:37:07.127Z,1628905027.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:37:07.540Z,1628905027.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:37:07.941Z,1628905027.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,009DC,18A,80,80,A6,FF
2021-08-14T01:37:07.942Z,1628905027.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:37:08.373Z,1628905028.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013707.19*54

2021-08-14T01:37:08.452Z,1628905028.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.940002 m, bearing: 24.415826 deg, deltaT: 4.478804 s, approachRate: -0.160756 m/s, LOS rate: 12.560233 deg/s, posRepo size: 4
2021-08-14T01:37:08.455Z,1628905028.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.560233 deg/s. Setting heading cmd to target bearing of 24.415826deg and heading rate command to 0 deg/s.
2021-08-14T01:37:10.893Z,1628905030.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:37:11.169Z,1628905031.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:37:11.169Z,1628905031.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:37:11.170Z,1628905031.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:37:11.171Z,1628905031.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:37:11.569Z,1628905031.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,009DC,18A,80,80,A6,FF
2021-08-14T01:37:11.569Z,1628905031.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:37:11.569Z,1628905031.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:37:11.571Z,1628905031.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:37:11.993Z,1628905031.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:37:12.393Z,1628905032.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BA3,000,009C3,189,80,80,89,FF
2021-08-14T01:37:12.394Z,1628905032.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:37:12.833Z,1628905032.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013711.64*59

2021-08-14T01:37:12.910Z,1628905032.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.440002 m, bearing: 30.530447 deg, deltaT: 4.444118 s, approachRate: -0.337525 m/s, LOS rate: 1.375891 deg/s, posRepo size: 4
2021-08-14T01:37:12.916Z,1628905032.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.440002 m,
      bearing: 30.530447 deg,
      approachRate: -0.337525 m/s,
      LOS rate: 1.375891 deg/s,
      cmd update: 4.127672 deg/s,
      cmd heading: 24.415826 deg,
      new cmd heading: 24.415826 deg.

2021-08-14T01:37:15.238Z,1628905035.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:37:15.609Z,1628905035.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:37:15.609Z,1628905035.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:37:15.609Z,1628905035.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:37:15.610Z,1628905035.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:37:16.021Z,1628905036.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BA3,000,009C3,189,80,80,89,FF
2021-08-14T01:37:16.021Z,1628905036.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:37:16.021Z,1628905036.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:37:16.023Z,1628905036.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:37:16.482Z,1628905036.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:37:17.250Z,1628905037.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013716.09*55

2021-08-14T01:37:18.075Z,1628905038.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:37:19.649Z,1628905039.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,89,FF
2021-08-14T01:37:19.649Z,1628905039.649 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,89,FF
2021-08-14T01:37:19.649Z,1628905039.649 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:37:20.900Z,1628905040.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:37:21.265Z,1628905041.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:37:21.265Z,1628905041.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:37:21.265Z,1628905041.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:37:21.266Z,1628905041.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:37:21.673Z,1628905041.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,89,FF
2021-08-14T01:37:21.673Z,1628905041.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:37:21.673Z,1628905041.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:37:21.675Z,1628905041.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:37:22.084Z,1628905042.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:37:22.521Z,1628905042.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,00967,186,80,80,87,FF
2021-08-14T01:37:22.522Z,1628905042.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:37:22.897Z,1628905042.897 [Micromodem](INFO): Nmea in: $SNTTA,0.078147,0.438659,,,013721.74*53

2021-08-14T01:37:22.923Z,1628905042.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.920006 m, bearing: 37.869878 deg, deltaT: 10.118928 s, approachRate: -0.545512 m/s, LOS rate: 0.725317 deg/s, posRepo size: 4
2021-08-14T01:37:22.945Z,1628905042.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.920006 m,
      bearing: 37.869878 deg,
      approachRate: -0.545512 m/s,
      LOS rate: 0.725317 deg/s,
      cmd update: 2.175951 deg/s,
      cmd heading: 66.400178 deg,
      new cmd heading: 67.804007 deg.

2021-08-14T01:37:25.341Z,1628905045.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:37:25.724Z,1628905045.724 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:37:25.724Z,1628905045.724 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:37:25.725Z,1628905045.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:37:25.726Z,1628905045.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:37:26.125Z,1628905046.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,00967,186,80,80,87,FF
2021-08-14T01:37:26.125Z,1628905046.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:37:26.125Z,1628905046.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:37:26.127Z,1628905046.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:37:26.556Z,1628905046.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:37:26.926Z,1628905046.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00939,184,80,80,9B,FF
2021-08-14T01:37:26.927Z,1628905046.927 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:37:27.377Z,1628905047.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013726.20*5D

2021-08-14T01:37:27.409Z,1628905047.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.159996 m, bearing: 33.279899 deg, deltaT: 4.371640 s, approachRate: -0.631344 m/s, LOS rate: -1.049944 deg/s, posRepo size: 4
2021-08-14T01:37:27.411Z,1628905047.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.159996 m,
      bearing: 33.279899 deg,
      approachRate: -0.631344 m/s,
      LOS rate: -1.049944 deg/s,
      cmd update: -3.149834 deg/s,
      cmd heading: 75.921685 deg,
      new cmd heading: 76.900435 deg.

2021-08-14T01:37:29.812Z,1628905049.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:37:30.157Z,1628905050.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:37:30.158Z,1628905050.158 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:37:30.158Z,1628905050.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:37:30.159Z,1628905050.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:37:30.577Z,1628905050.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00939,184,80,80,9B,FF
2021-08-14T01:37:30.577Z,1628905050.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:37:30.578Z,1628905050.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:37:30.579Z,1628905050.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:37:30.977Z,1628905050.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:37:31.389Z,1628905051.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,00908,189,80,80,A7,FF
2021-08-14T01:37:31.389Z,1628905051.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:37:31.826Z,1628905051.826 [Micromodem](INFO): Nmea in: $SNTTA,0.069903,,,,013730.65*40

2021-08-14T01:37:31.851Z,1628905051.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.219994 m, bearing: 22.000838 deg, deltaT: 4.491111 s, approachRate: -0.654627 m/s, LOS rate: -2.511419 deg/s, posRepo size: 4
2021-08-14T01:37:31.853Z,1628905051.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.219994 m,
      bearing: 22.000838 deg,
      approachRate: -0.654627 m/s,
      LOS rate: -2.511419 deg/s,
      cmd update: -7.534256 deg/s,
      cmd heading: 61.775503 deg,
      new cmd heading: 60.511339 deg.

2021-08-14T01:37:34.219Z,1628905054.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:37:34.608Z,1628905054.608 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:37:34.609Z,1628905054.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:37:34.609Z,1628905054.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:37:34.610Z,1628905054.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:37:35.005Z,1628905055.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,00908,189,80,80,A7,FF
2021-08-14T01:37:35.005Z,1628905055.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:37:35.005Z,1628905055.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:37:35.007Z,1628905055.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:37:35.417Z,1628905055.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:37:35.813Z,1628905055.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A8,000,008DE,188,80,80,A2,FF
2021-08-14T01:37:35.814Z,1628905055.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:37:36.257Z,1628905056.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013735.08*55

2021-08-14T01:37:36.280Z,1628905056.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.700005 m, bearing: 24.625692 deg, deltaT: 4.415720 s, approachRate: -0.570686 m/s, LOS rate: 0.594434 deg/s, posRepo size: 4
2021-08-14T01:37:36.282Z,1628905056.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.700005 m,
      bearing: 24.625692 deg,
      approachRate: -0.570686 m/s,
      LOS rate: 0.594434 deg/s,
      cmd update: 1.783302 deg/s,
      cmd heading: 28.513133 deg,
      new cmd heading: 25.385641 deg.

2021-08-14T01:37:36.631Z,1628905056.631 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:37:38.679Z,1628905058.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:37:39.041Z,1628905059.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:37:39.041Z,1628905059.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:37:39.041Z,1628905059.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:37:39.042Z,1628905059.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:37:39.445Z,1628905059.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A8,000,008DE,188,80,80,A2,FF
2021-08-14T01:37:39.445Z,1628905059.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:37:39.445Z,1628905059.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:37:39.447Z,1628905059.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:37:39.858Z,1628905059.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:37:40.253Z,1628905060.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DB,000,008B9,189,80,80,AC,FF
2021-08-14T01:37:40.253Z,1628905060.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:37:40.697Z,1628905060.697 [Micromodem](INFO): Nmea in: $SNTTA,0.403488,0.403888,,,013739.52*5A

2021-08-14T01:37:40.809Z,1628905060.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.479996 m, bearing: 25.185069 deg, deltaT: 4.436908 s, approachRate: -0.500350 m/s, LOS rate: 0.126074 deg/s, posRepo size: 4
2021-08-14T01:37:40.811Z,1628905060.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.479996 m,
      bearing: 25.185069 deg,
      approachRate: -0.500350 m/s,
      LOS rate: 0.126074 deg/s,
      cmd update: 0.378221 deg/s,
      cmd heading: 36.419966 deg,
      new cmd heading: 37.322326 deg.

2021-08-14T01:37:43.127Z,1628905063.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:37:43.492Z,1628905063.492 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:37:43.493Z,1628905063.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:37:43.493Z,1628905063.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:37:43.494Z,1628905063.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:37:43.889Z,1628905063.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DB,000,008B9,189,80,80,AC,FF
2021-08-14T01:37:43.889Z,1628905063.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:37:43.889Z,1628905063.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:37:43.891Z,1628905063.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:37:44.304Z,1628905064.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:37:44.697Z,1628905064.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,00887,186,80,80,AE,FF
2021-08-14T01:37:44.697Z,1628905064.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:37:45.146Z,1628905065.146 [Micromodem](INFO): Nmea in: $SNTTA,0.232046,,,,013743.96*4C

2021-08-14T01:37:45.161Z,1628905065.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.480003 m, bearing: 30.291356 deg, deltaT: 4.511941 s, approachRate: -0.664901 m/s, LOS rate: 1.131727 deg/s, posRepo size: 4
2021-08-14T01:37:45.163Z,1628905065.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.480003 m,
      bearing: 30.291356 deg,
      approachRate: -0.664901 m/s,
      LOS rate: 1.131727 deg/s,
      cmd update: 3.395182 deg/s,
      cmd heading: 38.127992 deg,
      new cmd heading: 38.259186 deg.

2021-08-14T01:37:46.761Z,1628905066.761 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:37:47.547Z,1628905067.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:37:47.937Z,1628905067.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:37:47.937Z,1628905067.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:37:47.938Z,1628905067.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:37:47.938Z,1628905067.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:37:48.338Z,1628905068.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,00887,186,80,80,AE,FF
2021-08-14T01:37:48.338Z,1628905068.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:37:48.338Z,1628905068.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:37:48.341Z,1628905068.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:37:48.770Z,1628905068.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:37:49.157Z,1628905069.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,00855,185,80,80,AE,FF
2021-08-14T01:37:49.157Z,1628905069.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:37:49.589Z,1628905069.589 [Micromodem](INFO): Nmea in: $SNTTA,0.062662,,,,013748.41*4A

2021-08-14T01:37:49.611Z,1628905069.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.480011 m, bearing: 29.629951 deg, deltaT: 4.359114 s, approachRate: -0.688212 m/s, LOS rate: -0.151729 deg/s, posRepo size: 4
2021-08-14T01:37:49.614Z,1628905069.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.480011 m,
      bearing: 29.629951 deg,
      approachRate: -0.688212 m/s,
      LOS rate: -0.151729 deg/s,
      cmd update: -0.455188 deg/s,
      cmd heading: 52.927054 deg,
      new cmd heading: 54.415118 deg.

2021-08-14T01:37:52.005Z,1628905072.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:37:52.392Z,1628905072.392 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:37:52.392Z,1628905072.392 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:37:52.393Z,1628905072.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:37:52.393Z,1628905072.393 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:37:52.801Z,1628905072.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,00855,185,80,80,AE,FF
2021-08-14T01:37:52.801Z,1628905072.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:37:52.801Z,1628905072.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:37:52.803Z,1628905072.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:37:53.213Z,1628905073.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:37:53.601Z,1628905073.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,234,000,00822,189,80,80,A7,FF
2021-08-14T01:37:53.601Z,1628905073.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:37:54.049Z,1628905074.049 [Micromodem](INFO): Nmea in: $SNTTA,0.082887,,,,013752.87*40

2021-08-14T01:37:54.095Z,1628905074.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.419998 m, bearing: 25.497477 deg, deltaT: 4.481606 s, approachRate: -0.682794 m/s, LOS rate: -0.922097 deg/s, posRepo size: 4
2021-08-14T01:37:54.108Z,1628905074.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.419998 m,
      bearing: 25.497477 deg,
      approachRate: -0.682794 m/s,
      LOS rate: -0.922097 deg/s,
      cmd update: -2.766290 deg/s,
      cmd heading: 50.888892 deg,
      new cmd heading: 50.686863 deg.

2021-08-14T01:37:56.510Z,1628905076.510 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:37:56.542Z,1628905076.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:37:56.837Z,1628905076.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:37:56.838Z,1628905076.838 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:37:56.838Z,1628905076.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:37:56.839Z,1628905076.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:37:57.241Z,1628905077.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
234,000,00822,189,80,80,A7,FF
2021-08-14T01:37:57.241Z,1628905077.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:37:57.241Z,1628905077.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:37:57.243Z,1628905077.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:37:57.662Z,1628905077.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:37:58.045Z,1628905078.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,007F6,189,80,80,7B,FF
2021-08-14T01:37:58.046Z,1628905078.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:37:58.537Z,1628905078.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.779999 m, bearing: 23.271059 deg, deltaT: 4.417129 s, approachRate: -0.597673 m/s, LOS rate: -0.504042 deg/s, posRepo size: 4
2021-08-14T01:37:58.539Z,1628905078.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.779999 m,
      bearing: 23.271059 deg,
      approachRate: -0.597673 m/s,
      LOS rate: -0.504042 deg/s,
      cmd update: -1.512126 deg/s,
      cmd heading: 38.658180 deg,
      new cmd heading: 37.373025 deg.

2021-08-14T01:38:00.914Z,1628905080.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:38:01.285Z,1628905081.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:38:01.285Z,1628905081.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:38:01.285Z,1628905081.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:38:01.286Z,1628905081.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:38:01.681Z,1628905081.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,007F6,189,80,80,7B,FF
2021-08-14T01:38:01.681Z,1628905081.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:38:01.681Z,1628905081.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:38:01.683Z,1628905081.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:38:02.107Z,1628905082.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:38:02.537Z,1628905082.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15C,000,007C0,186,80,80,A1,FF
2021-08-14T01:38:02.538Z,1628905082.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:38:02.541Z,1628905082.541 [Micromodem](INFO): Nmea in: $SNTTA,0.287218,0.287218,,,013801.75*57

2021-08-14T01:38:02.946Z,1628905082.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.540001 m, bearing: 27.831621 deg, deltaT: 4.545183 s, approachRate: -0.712842 m/s, LOS rate: 1.003383 deg/s, posRepo size: 4
2021-08-14T01:38:02.948Z,1628905082.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.540001 m,
      bearing: 27.831621 deg,
      approachRate: -0.712842 m/s,
      LOS rate: 1.003383 deg/s,
      cmd update: 3.010151 deg/s,
      cmd heading: 31.798578 deg,
      new cmd heading: 31.288286 deg.

2021-08-14T01:38:04.576Z,1628905084.576 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T01:38:05.367Z,1628905085.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:38:05.737Z,1628905085.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:38:05.737Z,1628905085.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:38:05.738Z,1628905085.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:38:05.739Z,1628905085.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:38:06.141Z,1628905086.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15C,000,007C0,186,80,80,A1,FF
2021-08-14T01:38:06.141Z,1628905086.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:38:06.141Z,1628905086.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:38:06.143Z,1628905086.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:38:06.561Z,1628905086.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:38:07.366Z,1628905087.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013806.21*51

2021-08-14T01:38:07.769Z,1628905087.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CD,000,007C0,186,80,80,A1,FF
2021-08-14T01:38:07.770Z,1628905087.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:38:08.188Z,1628905088.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.540001 m, bearing: 27.773337 deg, deltaT: 5.207008 s, approachRate: 0.000000 m/s, LOS rate: -0.011193 deg/s, posRepo size: 4
2021-08-14T01:38:08.190Z,1628905088.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.540001 m,
      bearing: 27.773337 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.011193 deg/s,
      cmd update: -0.033580 deg/s,
      cmd heading: 47.486872 deg,
      new cmd heading: 48.593937 deg.

2021-08-14T01:38:10.625Z,1628905090.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:38:10.988Z,1628905090.988 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:38:10.988Z,1628905090.988 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:38:10.989Z,1628905090.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:38:10.989Z,1628905090.989 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:38:11.386Z,1628905091.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CD,000,007C0,186,80,80,A1,FF
2021-08-14T01:38:11.386Z,1628905091.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:38:11.386Z,1628905091.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:38:11.387Z,1628905091.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:38:11.817Z,1628905091.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:38:12.185Z,1628905092.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,00751,186,80,80,A4,FF
2021-08-14T01:38:12.186Z,1628905092.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:38:12.625Z,1628905092.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013811.47*57

2021-08-14T01:38:12.672Z,1628905092.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.879997 m, bearing: 22.472251 deg, deltaT: 4.411063 s, approachRate: -1.509841 m/s, LOS rate: -1.201771 deg/s, posRepo size: 4
2021-08-14T01:38:12.674Z,1628905092.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.879997 m,
      bearing: 22.472251 deg,
      approachRate: -1.509841 m/s,
      LOS rate: -1.201771 deg/s,
      cmd update: -3.605312 deg/s,
      cmd heading: 47.339422 deg,
      new cmd heading: 47.323944 deg.

2021-08-14T01:38:15.061Z,1628905095.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:38:15.421Z,1628905095.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:38:15.421Z,1628905095.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:38:15.421Z,1628905095.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:38:15.422Z,1628905095.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:38:15.834Z,1628905095.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F9,000,00751,186,80,80,A4,FF
2021-08-14T01:38:15.834Z,1628905095.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:38:15.835Z,1628905095.835 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:38:15.837Z,1628905095.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:38:16.233Z,1628905096.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:38:16.642Z,1628905096.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,00720,189,80,80,AD,FF
2021-08-14T01:38:16.643Z,1628905096.643 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:38:16.663Z,1628905096.663 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T01:38:17.065Z,1628905097.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013815.91*58

2021-08-14T01:38:17.111Z,1628905097.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.939995 m, bearing: 18.384241 deg, deltaT: 4.518184 s, approachRate: -0.650704 m/s, LOS rate: -0.904790 deg/s, posRepo size: 4
2021-08-14T01:38:17.117Z,1628905097.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.939995 m,
      bearing: 18.384241 deg,
      approachRate: -0.650704 m/s,
      LOS rate: -0.904790 deg/s,
      cmd update: -2.714371 deg/s,
      cmd heading: 31.095346 deg,
      new cmd heading: 29.676079 deg.

2021-08-14T01:38:19.486Z,1628905099.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:38:19.861Z,1628905099.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:38:19.861Z,1628905099.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:38:19.861Z,1628905099.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:38:19.862Z,1628905099.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:38:20.269Z,1628905100.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
268,000,00720,189,80,80,AD,FF
2021-08-14T01:38:20.269Z,1628905100.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:38:20.269Z,1628905100.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:38:20.271Z,1628905100.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:38:20.692Z,1628905100.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:38:21.073Z,1628905101.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,006EE,186,80,80,AA,FF
2021-08-14T01:38:21.073Z,1628905101.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:38:21.547Z,1628905101.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.940002 m, bearing: 26.315834 deg, deltaT: 4.360494 s, approachRate: -0.687994 m/s, LOS rate: 1.818967 deg/s, posRepo size: 4
2021-08-14T01:38:21.554Z,1628905101.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.940002 m,
      bearing: 26.315834 deg,
      approachRate: -0.687994 m/s,
      LOS rate: 1.818967 deg/s,
      cmd update: 5.456900 deg/s,
      cmd heading: 19.225131 deg,
      new cmd heading: 17.985554 deg.

2021-08-14T01:38:23.973Z,1628905103.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:38:24.321Z,1628905104.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:38:24.321Z,1628905104.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:38:24.321Z,1628905104.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:38:24.322Z,1628905104.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:38:24.717Z,1628905104.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,006EE,186,80,80,AA,FF
2021-08-14T01:38:24.717Z,1628905104.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:38:24.718Z,1628905104.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:38:24.723Z,1628905104.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:38:25.121Z,1628905105.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:38:25.521Z,1628905105.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,006BE,184,80,80,AA,FF
2021-08-14T01:38:25.521Z,1628905105.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:38:25.949Z,1628905105.949 [Micromodem](INFO): Nmea in: $SNTTA,,0.057061,,,013824.79*47

2021-08-14T01:38:25.991Z,1628905105.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.060005 m, bearing: 28.271425 deg, deltaT: 4.423857 s, approachRate: -0.651015 m/s, LOS rate: 0.442056 deg/s, posRepo size: 4
2021-08-14T01:38:25.994Z,1628905105.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.060005 m,
      bearing: 28.271425 deg,
      approachRate: -0.651015 m/s,
      LOS rate: 0.442056 deg/s,
      cmd update: 1.326167 deg/s,
      cmd heading: 43.496801 deg,
      new cmd heading: 45.971560 deg.

2021-08-14T01:38:28.371Z,1628905108.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:38:28.773Z,1628905108.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:38:28.773Z,1628905108.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:38:28.773Z,1628905108.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:38:28.774Z,1628905108.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:38:29.153Z,1628905109.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,006BE,184,80,80,AA,FF
2021-08-14T01:38:29.153Z,1628905109.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:38:29.153Z,1628905109.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:38:29.155Z,1628905109.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:38:29.569Z,1628905109.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:38:29.974Z,1628905109.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,00688,185,80,80,C5,FF
2021-08-14T01:38:29.974Z,1628905109.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:38:30.414Z,1628905110.414 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013829.23*5E

2021-08-14T01:38:30.501Z,1628905110.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.820007 m, bearing: 22.769206 deg, deltaT: 4.482261 s, approachRate: -0.722849 m/s, LOS rate: -1.227554 deg/s, posRepo size: 4
2021-08-14T01:38:30.503Z,1628905110.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.820007 m,
      bearing: 22.769206 deg,
      approachRate: -0.722849 m/s,
      LOS rate: -1.227554 deg/s,
      cmd update: -3.682663 deg/s,
      cmd heading: 49.441026 deg,
      new cmd heading: 50.072688 deg.

2021-08-14T01:38:32.930Z,1628905112.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:38:33.237Z,1628905113.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:38:33.237Z,1628905113.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:38:33.238Z,1628905113.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:38:33.239Z,1628905113.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:38:33.643Z,1628905113.643 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,00688,185,80,80,C5,FF
2021-08-14T01:38:33.643Z,1628905113.643 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:38:33.643Z,1628905113.643 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:38:33.645Z,1628905113.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:38:34.045Z,1628905114.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:38:34.458Z,1628905114.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,00658,188,80,80,88,FF
2021-08-14T01:38:34.459Z,1628905114.459 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:38:34.893Z,1628905114.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013833.71*52

2021-08-14T01:38:34.919Z,1628905114.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.940006 m, bearing: 20.529872 deg, deltaT: 4.542690 s, approachRate: -0.633986 m/s, LOS rate: -0.492953 deg/s, posRepo size: 4
2021-08-14T01:38:34.921Z,1628905114.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.940006 m,
      bearing: 20.529872 deg,
      approachRate: -0.633986 m/s,
      LOS rate: -0.492953 deg/s,
      cmd update: -1.478860 deg/s,
      cmd heading: 32.712030 deg,
      new cmd heading: 31.400943 deg.

2021-08-14T01:38:37.319Z,1628905117.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:38:37.681Z,1628905117.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:38:37.681Z,1628905117.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:38:37.681Z,1628905117.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:38:37.682Z,1628905117.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:38:38.093Z,1628905118.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,00658,188,80,80,88,FF
2021-08-14T01:38:38.093Z,1628905118.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:38:38.093Z,1628905118.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:38:38.095Z,1628905118.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:38:38.528Z,1628905118.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:38:38.893Z,1628905118.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E3,000,00625,186,80,80,84,FF
2021-08-14T01:38:38.893Z,1628905118.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:38:39.334Z,1628905119.334 [Micromodem](INFO): Nmea in: $SNTTA,0.120965,,,,013838.16*4F

2021-08-14T01:38:39.398Z,1628905119.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.879997 m, bearing: 19.848651 deg, deltaT: 4.385308 s, approachRate: -0.697787 m/s, LOS rate: -0.155342 deg/s, posRepo size: 4
2021-08-14T01:38:39.405Z,1628905119.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.879997 m,
      bearing: 19.848651 deg,
      approachRate: -0.697787 m/s,
      LOS rate: -0.155342 deg/s,
      cmd update: -0.466025 deg/s,
      cmd heading: 26.267857 deg,
      new cmd heading: 25.568990 deg.

2021-08-14T01:38:41.787Z,1628905121.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:38:42.129Z,1628905122.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:38:42.130Z,1628905122.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:38:42.130Z,1628905122.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:38:42.131Z,1628905122.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:38:42.537Z,1628905122.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E3,000,00625,186,80,80,84,FF
2021-08-14T01:38:42.537Z,1628905122.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:38:42.537Z,1628905122.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:38:42.539Z,1628905122.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:38:43.056Z,1628905123.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:38:43.463Z,1628905123.463 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,005F4,186,80,80,B7,FF
2021-08-14T01:38:43.463Z,1628905123.463 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:38:43.866Z,1628905123.866 [Micromodem](INFO): Nmea in: $SNTTA,0.056029,,,,013842.61*43

2021-08-14T01:38:43.910Z,1628905123.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 24.505983 deg, deltaT: 4.540967 s, approachRate: -0.647440 m/s, LOS rate: 1.025626 deg/s, posRepo size: 4
2021-08-14T01:38:43.913Z,1628905123.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.939995 m,
      bearing: 24.505983 deg,
      approachRate: -0.647440 m/s,
      LOS rate: 1.025626 deg/s,
      cmd update: 3.076877 deg/s,
      cmd heading: 24.138794 deg,
      new cmd heading: 23.942345 deg.

2021-08-14T01:38:46.306Z,1628905126.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:38:46.682Z,1628905126.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:38:46.682Z,1628905126.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:38:46.683Z,1628905126.683 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:38:46.683Z,1628905126.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:38:46.764Z,1628905126.764 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T01:38:47.085Z,1628905127.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,005F4,186,80,80,B7,FF
2021-08-14T01:38:47.085Z,1628905127.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:38:47.085Z,1628905127.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:38:47.087Z,1628905127.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:38:47.511Z,1628905127.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:38:47.901Z,1628905127.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B6,000,005BE,186,80,80,A6,FF
2021-08-14T01:38:47.901Z,1628905127.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:38:48.349Z,1628905128.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013847.15*53

2021-08-14T01:38:48.377Z,1628905128.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.699997 m, bearing: 20.274315 deg, deltaT: 4.460182 s, approachRate: -0.726427 m/s, LOS rate: -0.948766 deg/s, posRepo size: 4
2021-08-14T01:38:48.379Z,1628905128.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.699997 m,
      bearing: 20.274315 deg,
      approachRate: -0.726427 m/s,
      LOS rate: -0.948766 deg/s,
      cmd update: -2.846297 deg/s,
      cmd heading: 37.862326 deg,
      new cmd heading: 39.166380 deg.

2021-08-14T01:38:50.864Z,1628905130.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:38:51.125Z,1628905131.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:38:51.125Z,1628905131.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:38:51.125Z,1628905131.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:38:51.126Z,1628905131.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:38:51.570Z,1628905131.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B6,000,005BE,186,80,80,A6,FF
2021-08-14T01:38:51.571Z,1628905131.571 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:38:51.571Z,1628905131.571 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:38:51.574Z,1628905131.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:38:51.947Z,1628905131.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:38:52.338Z,1628905132.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,0058E,187,80,80,8D,FF
2021-08-14T01:38:52.339Z,1628905132.339 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:38:52.770Z,1628905132.770 [Micromodem](INFO): Nmea in: $SNTTA,0.291981,0.382293,,,013851.64*59

2021-08-14T01:38:52.830Z,1628905132.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.820000 m, bearing: 15.048073 deg, deltaT: 4.446725 s, approachRate: -0.647667 m/s, LOS rate: -1.175301 deg/s, posRepo size: 4
2021-08-14T01:38:52.834Z,1628905132.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.820000 m,
      bearing: 15.048073 deg,
      approachRate: -0.647667 m/s,
      LOS rate: -1.175301 deg/s,
      cmd update: -3.525904 deg/s,
      cmd heading: 25.229504 deg,
      new cmd heading: 23.977520 deg.

2021-08-14T01:38:55.202Z,1628905135.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:38:55.577Z,1628905135.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:38:55.577Z,1628905135.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:38:55.577Z,1628905135.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:38:55.578Z,1628905135.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:38:55.973Z,1628905135.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,0058E,187,80,80,8D,FF
2021-08-14T01:38:55.973Z,1628905135.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:38:55.973Z,1628905135.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:38:55.975Z,1628905135.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:38:56.409Z,1628905136.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:38:56.813Z,1628905136.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,00559,186,80,80,9D,FF
2021-08-14T01:38:56.813Z,1628905136.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:38:56.817Z,1628905136.817 [Micromodem](INFO): Nmea in: $SNTTA,0.083652,0.182064,,,013856.04*50

2021-08-14T01:38:57.220Z,1628905137.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.640003 m, bearing: 21.782059 deg, deltaT: 4.514023 s, approachRate: -0.704471 m/s, LOS rate: 1.491793 deg/s, posRepo size: 4
2021-08-14T01:38:57.225Z,1628905137.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.640003 m,
      bearing: 21.782059 deg,
      approachRate: -0.704471 m/s,
      LOS rate: 1.491793 deg/s,
      cmd update: 4.475378 deg/s,
      cmd heading: 9.283112 deg,
      new cmd heading: 8.191115 deg.

2021-08-14T01:38:59.634Z,1628905139.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:39:00.028Z,1628905140.028 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:39:00.028Z,1628905140.028 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:39:00.029Z,1628905140.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:39:00.030Z,1628905140.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:39:00.417Z,1628905140.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,00559,186,80,80,9D,FF
2021-08-14T01:39:00.417Z,1628905140.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:39:00.417Z,1628905140.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:39:00.426Z,1628905140.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:39:00.827Z,1628905140.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:39:01.233Z,1628905141.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,00521,186,80,80,8F,FF
2021-08-14T01:39:01.233Z,1628905141.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:39:01.665Z,1628905141.665 [Micromodem](INFO): Nmea in: $SNTTA,0.038913,,,,013900.49*46

2021-08-14T01:39:01.688Z,1628905141.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.279999 m, bearing: 23.374881 deg, deltaT: 4.340061 s, approachRate: -0.774184 m/s, LOS rate: 0.367005 deg/s, posRepo size: 4
2021-08-14T01:39:01.690Z,1628905141.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.279999 m,
      bearing: 23.374881 deg,
      approachRate: -0.774184 m/s,
      LOS rate: 0.367005 deg/s,
      cmd update: 1.101014 deg/s,
      cmd heading: 28.706270 deg,
      new cmd heading: 30.664395 deg.

2021-08-14T01:39:04.105Z,1628905144.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:39:04.525Z,1628905144.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:39:04.525Z,1628905144.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:39:04.525Z,1628905144.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:39:04.526Z,1628905144.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:39:04.869Z,1628905144.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,00521,186,80,80,8F,FF
2021-08-14T01:39:04.869Z,1628905144.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:39:04.870Z,1628905144.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:39:04.871Z,1628905144.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:39:05.276Z,1628905145.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:39:05.669Z,1628905145.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,004EE,185,80,80,A3,FF
2021-08-14T01:39:05.669Z,1628905145.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:39:06.109Z,1628905146.109 [Micromodem](INFO): Nmea in: $SNTTA,0.039634,,,,013904.94*49

2021-08-14T01:39:06.152Z,1628905146.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.220001 m, bearing: 20.565993 deg, deltaT: 4.436101 s, approachRate: -0.689794 m/s, LOS rate: -0.633188 deg/s, posRepo size: 4
2021-08-14T01:39:06.152Z,1628905146.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.22 m.
2021-08-14T01:39:06.154Z,1628905146.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.220001 m,
      bearing: 20.565993 deg,
      approachRate: -0.689794 m/s,
      LOS rate: -0.633188 deg/s,
      cmd update: -1.899565 deg/s,
      cmd heading: 33.590508 deg,
      new cmd heading: 34.102938 deg.

2021-08-14T01:39:06.594Z,1628905146.594 [PowerOnly](INFO): Powering up loadControl
2021-08-14T01:39:06.650Z,1628905146.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:39:06.650Z,1628905146.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:39:06.651Z,1628905146.651 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:39:06.651Z,1628905146.651 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:39:06.651Z,1628905146.651 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:39:06.651Z,1628905146.651 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:39:06.946Z,1628905146.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:39:06.946Z,1628905146.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:39:06.946Z,1628905146.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:39:06.947Z,1628905146.947 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:39:08.653Z,1628905148.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:39:08.929Z,1628905148.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:39:08.929Z,1628905148.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:39:08.929Z,1628905148.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:39:08.930Z,1628905148.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:39:09.330Z,1628905149.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,004EE,185,80,80,A3,FF
2021-08-14T01:39:09.330Z,1628905149.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:39:09.330Z,1628905149.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:39:09.333Z,1628905149.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:39:09.722Z,1628905149.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:39:10.121Z,1628905150.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,004BB,186,80,80,8C,FF
2021-08-14T01:39:10.122Z,1628905150.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:39:10.153Z,1628905150.153 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:39:10.586Z,1628905150.586 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013909.40*58

2021-08-14T01:39:10.621Z,1628905150.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.159996 m, bearing: 18.237614 deg, deltaT: 4.463873 s, approachRate: -0.685505 m/s, LOS rate: -0.521605 deg/s, posRepo size: 4
2021-08-14T01:39:10.621Z,1628905150.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.16 m.
2021-08-14T01:39:10.623Z,1628905150.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.159996 m,
      bearing: 18.237614 deg,
      approachRate: -0.685505 m/s,
      LOS rate: -0.521605 deg/s,
      cmd update: -1.564815 deg/s,
      cmd heading: 25.111885 deg,
      new cmd heading: 24.217110 deg.

2021-08-14T01:39:12.982Z,1628905152.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:39:13.346Z,1628905153.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:39:13.346Z,1628905153.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:39:13.346Z,1628905153.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:39:13.347Z,1628905153.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:39:13.773Z,1628905153.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,004BB,186,80,80,8C,FF
2021-08-14T01:39:13.773Z,1628905153.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:39:13.773Z,1628905153.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:39:13.775Z,1628905153.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:39:14.157Z,1628905154.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:39:14.561Z,1628905154.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,0048C,185,80,80,70,FF
2021-08-14T01:39:14.561Z,1628905154.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:39:14.624Z,1628905154.624 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:39:14.989Z,1628905154.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013913.84*5B

2021-08-14T01:39:15.026Z,1628905155.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.340000 m, bearing: 21.930431 deg, deltaT: 4.471061 s, approachRate: -0.630722 m/s, LOS rate: 0.825937 deg/s, posRepo size: 4
2021-08-14T01:39:15.026Z,1628905155.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.34 m.
2021-08-14T01:39:15.028Z,1628905155.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 21.930431 deg,
      approachRate: -0.630722 m/s,
      LOS rate: 0.825937 deg/s,
      cmd update: 2.477812 deg/s,
      cmd heading: 18.115918 deg,
      new cmd heading: 17.481932 deg.

2021-08-14T01:39:17.411Z,1628905157.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:39:17.812Z,1628905157.812 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:39:17.812Z,1628905157.812 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:39:17.813Z,1628905157.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:39:17.814Z,1628905157.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:39:18.193Z,1628905158.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,0048C,185,80,80,70,FF
2021-08-14T01:39:18.193Z,1628905158.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:39:18.194Z,1628905158.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:39:18.195Z,1628905158.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:39:18.607Z,1628905158.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:39:19.001Z,1628905159.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,0045C,185,80,80,8A,FF
2021-08-14T01:39:19.001Z,1628905159.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:39:19.059Z,1628905159.059 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:39:19.465Z,1628905159.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013918.26*58

2021-08-14T01:39:19.516Z,1628905159.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.460001 m, bearing: 21.588109 deg, deltaT: 4.443867 s, approachRate: -0.648084 m/s, LOS rate: -0.077033 deg/s, posRepo size: 4
2021-08-14T01:39:19.516Z,1628905159.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.46 m.
2021-08-14T01:39:19.517Z,1628905159.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.46 m.
2021-08-14T01:39:19.517Z,1628905159.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T01:39:19.519Z,1628905159.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.460001 m,
      bearing: 21.588109 deg,
      approachRate: -0.648084 m/s,
      LOS rate: -0.077033 deg/s,
      cmd update: -0.231098 deg/s,
      cmd heading: 29.107209 deg,
      new cmd heading: 30.245673 deg.

2021-08-14T01:39:21.861Z,1628905161.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:39:22.233Z,1628905162.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:39:22.233Z,1628905162.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:39:22.233Z,1628905162.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:39:22.234Z,1628905162.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:39:22.637Z,1628905162.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,0045C,185,80,80,8A,FF
2021-08-14T01:39:22.637Z,1628905162.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:39:22.637Z,1628905162.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:39:22.639Z,1628905162.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:39:23.049Z,1628905163.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:39:23.445Z,1628905163.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,0042A,186,80,80,96,FF
2021-08-14T01:39:23.446Z,1628905163.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:39:23.493Z,1628905163.493 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:39:23.893Z,1628905163.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013922.71*53

2021-08-14T01:39:23.919Z,1628905163.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 17.866317 deg, deltaT: 4.425238 s, approachRate: -0.677930 m/s, LOS rate: -0.841038 deg/s, posRepo size: 4
2021-08-14T01:39:23.941Z,1628905163.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.460001 m,
      bearing: 17.866317 deg,
      approachRate: -0.677930 m/s,
      LOS rate: -0.841038 deg/s,
      cmd update: -2.523113 deg/s,
      cmd heading: 28.082611 deg,
      new cmd heading: 27.983418 deg.

2021-08-14T01:39:26.302Z,1628905166.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:39:26.689Z,1628905166.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:39:26.689Z,1628905166.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:39:26.689Z,1628905166.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:39:26.690Z,1628905166.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:39:27.081Z,1628905167.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,0042A,186,80,80,96,FF
2021-08-14T01:39:27.081Z,1628905167.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:39:27.081Z,1628905167.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:39:27.083Z,1628905167.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:39:27.499Z,1628905167.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:39:27.893Z,1628905167.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,131,000,003FA,185,80,80,A5,FF
2021-08-14T01:39:27.893Z,1628905167.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:39:27.964Z,1628905167.964 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:39:28.332Z,1628905168.332 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013927.15*54

2021-08-14T01:39:28.359Z,1628905168.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 17.749483 deg, deltaT: 4.471512 s, approachRate: -0.644078 m/s, LOS rate: -0.026128 deg/s, posRepo size: 4
2021-08-14T01:39:28.363Z,1628905168.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.580000 m,
      bearing: 17.749483 deg,
      approachRate: -0.644078 m/s,
      LOS rate: -0.026128 deg/s,
      cmd update: -0.078385 deg/s,
      cmd heading: 16.821992 deg,
      new cmd heading: 15.798274 deg.

2021-08-14T01:39:30.816Z,1628905170.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:39:31.129Z,1628905171.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:39:31.129Z,1628905171.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:39:31.129Z,1628905171.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:39:31.130Z,1628905171.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:39:31.601Z,1628905171.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
131,000,003FA,185,80,80,A5,FF
2021-08-14T01:39:31.601Z,1628905171.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:39:31.601Z,1628905171.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:39:31.603Z,1628905171.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:39:31.932Z,1628905171.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:39:32.334Z,1628905172.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,003C9,184,80,80,77,FF
2021-08-14T01:39:32.334Z,1628905172.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:39:32.397Z,1628905172.397 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:39:32.771Z,1628905172.771 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013931.67*56

2021-08-14T01:39:32.863Z,1628905172.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.639997 m, bearing: 21.097575 deg, deltaT: 4.432992 s, approachRate: -0.663209 m/s, LOS rate: 0.755267 deg/s, posRepo size: 4
2021-08-14T01:39:32.866Z,1628905172.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.639997 m,
      bearing: 21.097575 deg,
      approachRate: -0.663209 m/s,
      LOS rate: 0.755267 deg/s,
      cmd update: 2.265801 deg/s,
      cmd heading: 16.474158 deg,
      new cmd heading: 16.437088 deg.

2021-08-14T01:39:35.182Z,1628905175.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:39:35.593Z,1628905175.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:39:35.593Z,1628905175.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:39:35.593Z,1628905175.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:39:35.594Z,1628905175.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:39:35.965Z,1628905175.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,003C9,184,80,80,77,FF
2021-08-14T01:39:35.966Z,1628905175.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:39:35.966Z,1628905175.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:39:35.967Z,1628905175.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:39:36.388Z,1628905176.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:39:36.801Z,1628905176.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,003A3,184,80,80,AE,FF
2021-08-14T01:39:36.801Z,1628905176.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:39:36.885Z,1628905176.885 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:39:37.213Z,1628905177.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013936.04*54

2021-08-14T01:39:37.245Z,1628905177.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.359997 m, bearing: 19.286339 deg, deltaT: 4.488097 s, approachRate: -0.508011 m/s, LOS rate: -0.403564 deg/s, posRepo size: 4
2021-08-14T01:39:37.247Z,1628905177.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 19.286339 deg,
      approachRate: -0.508011 m/s,
      LOS rate: -0.403564 deg/s,
      cmd update: -1.210693 deg/s,
      cmd heading: 26.652438 deg,
      new cmd heading: 27.473099 deg.

2021-08-14T01:39:39.662Z,1628905179.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:39:40.017Z,1628905180.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:39:40.017Z,1628905180.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:39:40.017Z,1628905180.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:39:40.018Z,1628905180.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:39:40.429Z,1628905180.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,003A3,184,80,80,AE,FF
2021-08-14T01:39:40.429Z,1628905180.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:39:40.430Z,1628905180.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:39:40.434Z,1628905180.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:39:40.840Z,1628905180.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:39:41.229Z,1628905181.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,167,000,00366,186,80,80,A4,FF
2021-08-14T01:39:41.229Z,1628905181.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:39:41.278Z,1628905181.278 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:39:41.649Z,1628905181.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013940.51*55

2021-08-14T01:39:41.677Z,1628905181.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.700000 m, bearing: 16.379542 deg, deltaT: 4.392043 s, approachRate: -0.833324 m/s, LOS rate: -0.661833 deg/s, posRepo size: 4
2021-08-14T01:39:41.679Z,1628905181.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.700000 m,
      bearing: 16.379542 deg,
      approachRate: -0.833324 m/s,
      LOS rate: -0.661833 deg/s,
      cmd update: -1.985498 deg/s,
      cmd heading: 21.368920 deg,
      new cmd heading: 20.863100 deg.

2021-08-14T01:39:44.085Z,1628905184.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:39:44.493Z,1628905184.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:39:44.493Z,1628905184.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:39:44.493Z,1628905184.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:39:44.494Z,1628905184.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:39:44.857Z,1628905184.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
167,000,00366,186,80,80,A4,FF
2021-08-14T01:39:44.857Z,1628905184.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:39:44.857Z,1628905184.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:39:44.859Z,1628905184.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:39:45.284Z,1628905185.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:39:45.665Z,1628905185.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,00347,185,80,80,7F,FF
2021-08-14T01:39:45.665Z,1628905185.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:39:45.709Z,1628905185.709 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:39:46.109Z,1628905186.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013944.93*5F

2021-08-14T01:39:46.139Z,1628905186.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.840000 m, bearing: 18.084343 deg, deltaT: 4.431565 s, approachRate: -0.419716 m/s, LOS rate: 0.384695 deg/s, posRepo size: 4
2021-08-14T01:39:46.141Z,1628905186.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 18.084343 deg,
      approachRate: -0.419716 m/s,
      LOS rate: 0.384695 deg/s,
      cmd update: 1.154085 deg/s,
      cmd heading: 12.562191 deg,
      new cmd heading: 11.654582 deg.

2021-08-14T01:39:48.593Z,1628905188.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:39:48.897Z,1628905188.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:39:48.898Z,1628905188.898 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:39:48.898Z,1628905188.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:39:48.899Z,1628905188.899 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:39:49.297Z,1628905189.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,00347,185,80,80,7F,FF
2021-08-14T01:39:49.297Z,1628905189.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:39:49.298Z,1628905189.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:39:49.317Z,1628905189.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:39:49.706Z,1628905189.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:39:50.117Z,1628905190.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,00307,185,80,80,B1,FF
2021-08-14T01:39:50.118Z,1628905190.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:39:50.183Z,1628905190.183 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:39:50.557Z,1628905190.557 [Micromodem](INFO): Nmea in: $SNTTA,0.036008,,,,013949.39*41

2021-08-14T01:39:50.607Z,1628905190.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.999999 m, bearing: 15.050334 deg, deltaT: 4.473761 s, approachRate: -0.858338 m/s, LOS rate: -0.678179 deg/s, posRepo size: 4
2021-08-14T01:39:50.610Z,1628905190.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 15.050334 deg,
      approachRate: -0.858338 m/s,
      LOS rate: -0.678179 deg/s,
      cmd update: -2.034536 deg/s,
      cmd heading: 17.748337 deg,
      new cmd heading: 18.246523 deg.

2021-08-14T01:39:52.969Z,1628905192.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:39:53.338Z,1628905193.338 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:39:53.338Z,1628905193.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:39:53.338Z,1628905193.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:39:53.339Z,1628905193.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:39:53.749Z,1628905193.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,00307,185,80,80,B1,FF
2021-08-14T01:39:53.749Z,1628905193.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:39:53.750Z,1628905193.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:39:53.755Z,1628905193.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:39:54.159Z,1628905194.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:39:54.549Z,1628905194.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,002DE,186,80,80,CE,FF
2021-08-14T01:39:54.550Z,1628905194.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:39:54.612Z,1628905194.612 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:39:54.995Z,1628905194.995 [Micromodem](INFO): Nmea in: $SNTTA,0.004105,,,,013953.83*46

2021-08-14T01:39:55.035Z,1628905195.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.539999 m, bearing: 12.209227 deg, deltaT: 4.429071 s, approachRate: -0.555421 m/s, LOS rate: -0.641468 deg/s, posRepo size: 4
2021-08-14T01:39:55.053Z,1628905195.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.539999 m,
      bearing: 12.209227 deg,
      approachRate: -0.555421 m/s,
      LOS rate: -0.641468 deg/s,
      cmd update: -1.924404 deg/s,
      cmd heading: 8.729481 deg,
      new cmd heading: 7.862628 deg.

2021-08-14T01:39:57.407Z,1628905197.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:39:57.809Z,1628905197.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:39:57.809Z,1628905197.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:39:57.809Z,1628905197.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:39:57.810Z,1628905197.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:39:58.193Z,1628905198.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,002DE,186,80,80,CE,FF
2021-08-14T01:39:58.193Z,1628905198.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:39:58.193Z,1628905198.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:39:58.195Z,1628905198.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:39:58.592Z,1628905198.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:39:59.001Z,1628905199.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F6,000,002C9,186,80,80,9A,FF
2021-08-14T01:39:59.001Z,1628905199.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:39:59.091Z,1628905199.091 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:39:59.433Z,1628905199.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013958.27*5D

2021-08-14T01:39:59.466Z,1628905199.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.279998 m, bearing: 348.555837 deg, deltaT: 4.483809 s, approachRate: -0.281011 m/s, LOS rate: -5.275291 deg/s, posRepo size: 4
2021-08-14T01:39:59.468Z,1628905199.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 348.555837 deg,
      approachRate: -0.281011 m/s,
      LOS rate: -5.275291 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 0.132577 deg,
      new cmd heading: 359.382839 deg.

2021-08-14T01:40:01.881Z,1628905201.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:40:02.229Z,1628905202.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:40:02.229Z,1628905202.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:40:02.230Z,1628905202.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:40:02.230Z,1628905202.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:40:02.637Z,1628905202.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F6,000,002C9,186,80,80,9A,FF
2021-08-14T01:40:02.637Z,1628905202.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:40:02.637Z,1628905202.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:40:02.639Z,1628905202.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:40:03.050Z,1628905203.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:40:03.453Z,1628905203.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,002CC,187,80,80,92,FF
2021-08-14T01:40:03.454Z,1628905203.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:40:03.473Z,1628905203.473 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:40:03.889Z,1628905203.889 [Micromodem](INFO): Nmea in: $SNTTA,0.036056,,,,014002.71*47

2021-08-14T01:40:03.932Z,1628905203.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.460000 m, bearing: 7.415553 deg, deltaT: 4.377465 s, approachRate: 0.041120 m/s, LOS rate: 4.308367 deg/s, posRepo size: 4
2021-08-14T01:40:03.934Z,1628905203.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 7.415553 deg,
      approachRate: 0.041120 m/s,
      LOS rate: 4.308367 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 307.403111 deg,
      new cmd heading: 301.864355 deg.

2021-08-14T01:40:06.294Z,1628905206.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:40:06.689Z,1628905206.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:40:06.689Z,1628905206.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:40:06.689Z,1628905206.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:40:06.690Z,1628905206.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:40:07.081Z,1628905207.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,002CC,187,80,80,92,FF
2021-08-14T01:40:07.081Z,1628905207.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:40:07.081Z,1628905207.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:40:07.083Z,1628905207.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:40:07.493Z,1628905207.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:40:07.899Z,1628905207.899 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,002E9,186,80,80,9A,FF
2021-08-14T01:40:07.899Z,1628905207.899 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:40:07.929Z,1628905207.929 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:40:08.334Z,1628905208.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014007.15*58

2021-08-14T01:40:08.386Z,1628905208.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.199999 m, bearing: 331.592051 deg, deltaT: 4.456241 s, approachRate: 0.390463 m/s, LOS rate: -8.038953 deg/s, posRepo size: 4
2021-08-14T01:40:08.389Z,1628905208.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.199999 m,
      bearing: 331.592051 deg,
      approachRate: 0.390463 m/s,
      LOS rate: -8.038953 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 0.879229 deg,
      new cmd heading: 6.142681 deg.

2021-08-14T01:40:10.830Z,1628905210.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:40:11.129Z,1628905211.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:40:11.129Z,1628905211.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:40:11.129Z,1628905211.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:40:11.130Z,1628905211.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:40:11.538Z,1628905211.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,002E9,186,80,80,9A,FF
2021-08-14T01:40:11.538Z,1628905211.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:40:11.538Z,1628905211.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:40:11.545Z,1628905211.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:40:11.940Z,1628905211.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:40:12.338Z,1628905212.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,00316,184,80,80,97,FF
2021-08-14T01:40:12.339Z,1628905212.339 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:40:12.367Z,1628905212.367 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:40:12.789Z,1628905212.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014011.62*5F

2021-08-14T01:40:12.844Z,1628905212.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.899997 m, bearing: 319.286236 deg, deltaT: 4.438209 s, approachRate: 0.608353 m/s, LOS rate: -2.772698 deg/s, posRepo size: 4
2021-08-14T01:40:12.846Z,1628905212.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.899997 m,
      bearing: 319.286236 deg,
      approachRate: 0.608353 m/s,
      LOS rate: -2.772698 deg/s,
      cmd update: -8.318096 deg/s,
      cmd heading: 307.626395 deg,
      new cmd heading: 301.872947 deg.

2021-08-14T01:40:15.194Z,1628905215.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:40:15.569Z,1628905215.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:40:15.569Z,1628905215.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:40:15.569Z,1628905215.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:40:15.570Z,1628905215.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:40:15.977Z,1628905215.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,00316,184,80,80,97,FF
2021-08-14T01:40:15.978Z,1628905215.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:40:15.978Z,1628905215.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:40:16.028Z,1628905216.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:40:16.385Z,1628905216.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:40:16.813Z,1628905216.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F94,000,00356,187,80,80,5D,FF
2021-08-14T01:40:16.813Z,1628905216.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:40:16.899Z,1628905216.899 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:40:17.199Z,1628905217.199 [Micromodem](INFO): Nmea in: $SNTTA,0.035691,,,,014016.10*4B

2021-08-14T01:40:17.255Z,1628905217.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.739999 m, bearing: 338.179441 deg, deltaT: 4.535748 s, approachRate: 0.846608 m/s, LOS rate: 4.165400 deg/s, posRepo size: 4
2021-08-14T01:40:17.274Z,1628905217.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 338.179441 deg,
      approachRate: 0.846608 m/s,
      LOS rate: 4.165400 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 269.963348 deg,
      new cmd heading: 266.942565 deg.

2021-08-14T01:40:19.634Z,1628905219.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:40:20.009Z,1628905220.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:40:20.009Z,1628905220.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:40:20.009Z,1628905220.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:40:20.010Z,1628905220.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:40:20.421Z,1628905220.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F94,000,00356,187,80,80,5D,FF
2021-08-14T01:40:20.421Z,1628905220.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:40:20.421Z,1628905220.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:40:20.426Z,1628905220.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:40:20.838Z,1628905220.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:40:21.661Z,1628905221.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014020.50*5C

2021-08-14T01:40:22.511Z,1628905222.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:40:24.049Z,1628905224.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,5D,FF
2021-08-14T01:40:24.049Z,1628905224.049 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,5D,FF
2021-08-14T01:40:24.049Z,1628905224.049 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:40:24.871Z,1628905224.871 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:40:25.290Z,1628905225.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:40:25.658Z,1628905225.658 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:40:25.658Z,1628905225.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:40:25.659Z,1628905225.659 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:40:25.660Z,1628905225.660 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:40:26.073Z,1628905226.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,5D,FF
2021-08-14T01:40:26.073Z,1628905226.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:40:26.073Z,1628905226.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:40:26.075Z,1628905226.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:40:26.516Z,1628905226.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:40:26.878Z,1628905226.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,003B1,184,80,80,6E,FF
2021-08-14T01:40:26.878Z,1628905226.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:40:26.940Z,1628905226.940 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:40:27.322Z,1628905227.322 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014026.15*5B

2021-08-14T01:40:27.347Z,1628905227.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 310.005430 deg, deltaT: 10.036743 s, approachRate: 0.544001 m/s, LOS rate: -2.807087 deg/s, posRepo size: 4
2021-08-14T01:40:27.348Z,1628905227.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.20 m. Rolling out.
2021-08-14T01:40:27.348Z,1628905227.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T01:40:29.781Z,1628905229.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:40:30.109Z,1628905230.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:40:30.109Z,1628905230.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:40:30.109Z,1628905230.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:40:30.110Z,1628905230.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:40:30.541Z,1628905230.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,003B1,184,80,80,6E,FF
2021-08-14T01:40:30.541Z,1628905230.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:40:30.541Z,1628905230.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:40:30.542Z,1628905230.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:40:30.928Z,1628905230.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:40:31.321Z,1628905231.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,201,000,003DF,187,80,80,3B,FF
2021-08-14T01:40:31.321Z,1628905231.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:40:31.383Z,1628905231.383 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:40:31.753Z,1628905231.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014030.61*5F

2021-08-14T01:40:31.793Z,1628905231.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 296.271504 deg, deltaT: 4.451320 s, approachRate: 0.620040 m/s, LOS rate: -3.085360 deg/s, posRepo size: 4
2021-08-14T01:40:34.171Z,1628905234.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:40:34.562Z,1628905234.562 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:40:34.562Z,1628905234.562 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:40:34.563Z,1628905234.563 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:40:34.565Z,1628905234.565 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:40:34.965Z,1628905234.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
201,000,003DF,187,80,80,3B,FF
2021-08-14T01:40:34.965Z,1628905234.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:40:34.965Z,1628905234.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:40:34.967Z,1628905234.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:40:35.369Z,1628905235.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:40:35.790Z,1628905235.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,00410,186,80,80,96,FF
2021-08-14T01:40:35.790Z,1628905235.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:40:35.869Z,1628905235.869 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:40:36.198Z,1628905236.198 [Micromodem](INFO): Nmea in: $SNTTA,0.048859,,,,014035.04*4F

2021-08-14T01:40:36.219Z,1628905236.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.900000 m, bearing: 357.202610 deg, deltaT: 4.477587 s, approachRate: 0.656604 m/s, LOS rate: 13.608023 deg/s, posRepo size: 4
2021-08-14T01:40:38.651Z,1628905238.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:40:39.009Z,1628905239.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:40:39.009Z,1628905239.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:40:39.009Z,1628905239.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:40:39.010Z,1628905239.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:40:39.409Z,1628905239.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,00410,186,80,80,96,FF
2021-08-14T01:40:39.410Z,1628905239.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:40:39.410Z,1628905239.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:40:39.411Z,1628905239.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:40:39.820Z,1628905239.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:40:40.209Z,1628905240.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,00444,186,80,80,59,FF
2021-08-14T01:40:40.209Z,1628905240.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:40:40.229Z,1628905240.229 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:40:40.653Z,1628905240.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014039.48*5D

2021-08-14T01:40:40.706Z,1628905240.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.020000 m, bearing: 7.147542 deg, deltaT: 4.359970 s, approachRate: 0.715601 m/s, LOS rate: 2.280965 deg/s, posRepo size: 4
2021-08-14T01:40:41.046Z,1628905241.046 [PowerOnly](INFO): Powering down loadControl
2021-08-14T01:40:43.098Z,1628905243.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:40:43.445Z,1628905243.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:40:43.445Z,1628905243.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:40:43.446Z,1628905243.446 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:40:43.447Z,1628905243.447 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:40:43.862Z,1628905243.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,00444,186,80,80,59,FF
2021-08-14T01:40:43.862Z,1628905243.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:40:43.863Z,1628905243.863 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:40:43.865Z,1628905243.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:40:44.253Z,1628905244.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:40:44.666Z,1628905244.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,00466,186,80,80,94,FF
2021-08-14T01:40:44.666Z,1628905244.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:40:44.792Z,1628905244.792 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:40:45.081Z,1628905245.081 [Micromodem](INFO): Nmea in: $SNTTA,0.036872,,,,014043.94*47

2021-08-14T01:40:45.102Z,1628905245.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.059999 m, bearing: 38.267692 deg, deltaT: 4.563050 s, approachRate: 0.447069 m/s, LOS rate: 6.820032 deg/s, posRepo size: 4
2021-08-14T01:40:47.503Z,1628905247.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:40:47.899Z,1628905247.899 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:40:47.899Z,1628905247.899 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:40:47.900Z,1628905247.900 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:40:47.901Z,1628905247.901 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:40:48.297Z,1628905248.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,00466,186,80,80,94,FF
2021-08-14T01:40:48.297Z,1628905248.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:40:48.298Z,1628905248.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:40:48.299Z,1628905248.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:40:48.707Z,1628905248.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:40:49.097Z,1628905249.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,00483,187,80,80,56,FF
2021-08-14T01:40:49.098Z,1628905249.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:40:49.140Z,1628905249.140 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:40:49.554Z,1628905249.554 [Micromodem](INFO): Nmea in: $SNTTA,0.036095,,,,014048.37*44

2021-08-14T01:40:49.587Z,1628905249.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.799999 m, bearing: 47.167446 deg, deltaT: 4.347806 s, approachRate: 0.400202 m/s, LOS rate: 2.046953 deg/s, posRepo size: 4
2021-08-14T01:40:51.987Z,1628905251.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:40:52.334Z,1628905252.334 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:40:52.334Z,1628905252.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:40:52.335Z,1628905252.335 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:40:52.340Z,1628905252.340 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:40:52.747Z,1628905252.747 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,00483,187,80,80,56,FF
2021-08-14T01:40:52.764Z,1628905252.764 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:40:52.764Z,1628905252.764 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:40:52.767Z,1628905252.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:40:53.149Z,1628905253.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:40:53.545Z,1628905253.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7E,000,004A5,189,80,80,6F,FF
2021-08-14T01:40:53.545Z,1628905253.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:40:53.612Z,1628905253.612 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:40:53.967Z,1628905253.967 [Micromodem](INFO): Nmea in: $SNTTA,0.035216,,,,014052.84*4D

2021-08-14T01:40:54.019Z,1628905254.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.839996 m, bearing: 69.455087 deg, deltaT: 4.471996 s, approachRate: 0.456171 m/s, LOS rate: 4.983824 deg/s, posRepo size: 4
2021-08-14T01:40:56.418Z,1628905256.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:40:56.797Z,1628905256.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:40:56.797Z,1628905256.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:40:56.797Z,1628905256.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:40:56.798Z,1628905256.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:40:57.173Z,1628905257.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7E,000,004A5,189,80,80,6F,FF
2021-08-14T01:40:57.173Z,1628905257.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:40:57.174Z,1628905257.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:40:57.175Z,1628905257.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:40:57.584Z,1628905257.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:40:57.989Z,1628905257.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,004CC,187,80,80,84,FF
2021-08-14T01:40:57.990Z,1628905257.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:40:58.044Z,1628905258.044 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:40:58.450Z,1628905258.450 [Micromodem](INFO): Nmea in: $SNTTA,0.044491,,,,014057.24*4D

2021-08-14T01:40:58.517Z,1628905258.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.180000 m, bearing: 55.932125 deg, deltaT: 4.431993 s, approachRate: 0.527980 m/s, LOS rate: -3.051215 deg/s, posRepo size: 4
2021-08-14T01:41:00.889Z,1628905260.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:01.221Z,1628905261.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:41:01.221Z,1628905261.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:41:01.221Z,1628905261.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:41:01.222Z,1628905261.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:41:01.653Z,1628905261.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,004CC,187,80,80,84,FF
2021-08-14T01:41:01.653Z,1628905261.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:41:01.653Z,1628905261.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:41:01.655Z,1628905261.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:41:02.037Z,1628905262.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:41:02.842Z,1628905262.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014101.73*5F

2021-08-14T01:41:03.667Z,1628905263.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:05.261Z,1628905265.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,84,FF
2021-08-14T01:41:05.261Z,1628905265.261 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,84,FF
2021-08-14T01:41:05.261Z,1628905265.261 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:41:06.558Z,1628905266.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:06.877Z,1628905266.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:41:06.877Z,1628905266.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:41:06.877Z,1628905266.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:41:06.878Z,1628905266.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:41:06.900Z,1628905266.900 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,84,FF
2021-08-14T01:41:06.901Z,1628905266.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:41:06.901Z,1628905266.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:41:06.902Z,1628905266.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:41:07.294Z,1628905267.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:41:07.685Z,1628905267.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,00527,186,80,80,6D,FF
2021-08-14T01:41:07.685Z,1628905267.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:41:07.773Z,1628905267.773 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:41:08.113Z,1628905268.113 [Micromodem](INFO): Nmea in: $SNTTA,0.456064,,,,014106.97*49

2021-08-14T01:41:08.150Z,1628905268.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.640003 m, bearing: 47.671015 deg, deltaT: 9.728802 s, approachRate: 0.561220 m/s, LOS rate: -0.849140 deg/s, posRepo size: 4
2021-08-14T01:41:08.573Z,1628905268.573 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:41:08.574Z,1628905268.574 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:41:08.574Z,1628905268.574 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:41:08.574Z,1628905268.574 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:41:08.575Z,1628905268.575 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:41:08.575Z,1628905268.575 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:41:08.943Z,1628905268.943 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:41:08.943Z,1628905268.943 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:41:08.943Z,1628905268.943 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:41:08.943Z,1628905268.943 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:41:10.570Z,1628905270.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:10.917Z,1628905270.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:41:10.917Z,1628905270.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:41:10.917Z,1628905270.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:41:10.918Z,1628905270.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:41:11.327Z,1628905271.327 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,00527,186,80,80,6D,FF
2021-08-14T01:41:11.327Z,1628905271.327 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:41:11.327Z,1628905271.327 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:41:11.330Z,1628905271.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:41:11.748Z,1628905271.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:41:12.139Z,1628905272.139 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,0055B,187,80,80,77,FF
2021-08-14T01:41:12.140Z,1628905272.140 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:41:12.147Z,1628905272.147 [Micromodem](INFO): Nmea in: $SNTTA,0.069391,0.311134,,,014111.40*5F

2021-08-14T01:41:12.589Z,1628905272.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.759998 m, bearing: 57.826936 deg, deltaT: 4.436185 s, approachRate: 0.703306 m/s, LOS rate: 2.289337 deg/s, posRepo size: 4
2021-08-14T01:41:14.985Z,1628905274.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:15.370Z,1628905275.370 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:41:15.370Z,1628905275.370 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:41:15.370Z,1628905275.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:41:15.371Z,1628905275.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:41:15.797Z,1628905275.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,0055B,187,80,80,77,FF
2021-08-14T01:41:15.797Z,1628905275.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:41:15.797Z,1628905275.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:41:15.799Z,1628905275.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:41:16.181Z,1628905276.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:41:16.610Z,1628905276.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,00581,186,80,80,1E,FF
2021-08-14T01:41:16.613Z,1628905276.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:41:16.621Z,1628905276.621 [Micromodem](INFO): Nmea in: $SNTTA,0.268170,0.268220,,,014115.87*57

2021-08-14T01:41:17.023Z,1628905277.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.040001 m, bearing: 56.140412 deg, deltaT: 4.513644 s, approachRate: 0.505136 m/s, LOS rate: -0.373650 deg/s, posRepo size: 4
2021-08-14T01:41:19.431Z,1628905279.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:19.813Z,1628905279.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:41:19.813Z,1628905279.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:41:19.813Z,1628905279.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:41:19.814Z,1628905279.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:41:20.217Z,1628905280.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,00581,186,80,80,1E,FF
2021-08-14T01:41:20.217Z,1628905280.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:41:20.217Z,1628905280.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:41:20.219Z,1628905280.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:41:20.616Z,1628905280.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:41:21.025Z,1628905281.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,005B7,187,80,80,76,FF
2021-08-14T01:41:21.025Z,1628905281.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:41:21.457Z,1628905281.457 [Micromodem](INFO): Nmea in: $SNTTA,0.058303,,,,014120.29*40

2021-08-14T01:41:21.486Z,1628905281.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.279999 m, bearing: 45.205744 deg, deltaT: 4.425619 s, approachRate: 0.732100 m/s, LOS rate: -2.470766 deg/s, posRepo size: 4
2021-08-14T01:41:23.888Z,1628905283.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:24.249Z,1628905284.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:41:24.250Z,1628905284.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:41:24.250Z,1628905284.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:41:24.251Z,1628905284.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:41:24.662Z,1628905284.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,005B7,187,80,80,76,FF
2021-08-14T01:41:24.662Z,1628905284.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:41:24.662Z,1628905284.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:41:24.664Z,1628905284.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:41:25.065Z,1628905285.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:41:25.461Z,1628905285.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,005E7,186,80,80,60,FF
2021-08-14T01:41:25.461Z,1628905285.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:41:25.905Z,1628905285.905 [Micromodem](INFO): Nmea in: $SNTTA,0.281117,,,,014124.73*4A

2021-08-14T01:41:25.942Z,1628905285.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.159996 m, bearing: 42.140454 deg, deltaT: 4.333554 s, approachRate: 0.664581 m/s, LOS rate: -0.707339 deg/s, posRepo size: 4
2021-08-14T01:41:28.311Z,1628905288.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:28.693Z,1628905288.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:41:28.693Z,1628905288.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:41:28.693Z,1628905288.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:41:28.694Z,1628905288.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:41:29.107Z,1628905289.107 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,005E7,186,80,80,60,FF
2021-08-14T01:41:29.107Z,1628905289.107 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:41:29.108Z,1628905289.108 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:41:29.110Z,1628905289.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:41:29.512Z,1628905289.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:41:29.905Z,1628905289.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,0061B,186,80,80,67,FF
2021-08-14T01:41:29.905Z,1628905289.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:41:30.350Z,1628905290.350 [Micromodem](INFO): Nmea in: $SNTTA,0.052166,,,,014129.18*40

2021-08-14T01:41:30.389Z,1628905290.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.279999 m, bearing: 42.323226 deg, deltaT: 4.452995 s, approachRate: 0.700653 m/s, LOS rate: 0.041045 deg/s, posRepo size: 4
2021-08-14T01:41:32.807Z,1628905292.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:33.149Z,1628905293.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:41:33.149Z,1628905293.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:41:33.149Z,1628905293.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:41:33.150Z,1628905293.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:41:33.545Z,1628905293.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,0061B,186,80,80,67,FF
2021-08-14T01:41:33.546Z,1628905293.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:41:33.546Z,1628905293.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:41:33.547Z,1628905293.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:41:33.953Z,1628905293.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:41:34.350Z,1628905294.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CA,000,00645,186,80,80,80,FF
2021-08-14T01:41:34.350Z,1628905294.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:41:34.794Z,1628905294.794 [Micromodem](INFO): Nmea in: $SNTTA,0.094877,0.352497,,,014133.62*55

2021-08-14T01:41:34.839Z,1628905294.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.799999 m, bearing: 24.570400 deg, deltaT: 4.459492 s, approachRate: 0.565087 m/s, LOS rate: -3.980908 deg/s, posRepo size: 4
2021-08-14T01:41:37.209Z,1628905297.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:37.581Z,1628905297.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:41:37.581Z,1628905297.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:41:37.581Z,1628905297.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:41:37.582Z,1628905297.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:41:37.985Z,1628905297.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CA,000,00645,186,80,80,80,FF
2021-08-14T01:41:37.985Z,1628905297.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:41:37.985Z,1628905297.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:41:37.987Z,1628905297.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:41:38.415Z,1628905298.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:41:38.805Z,1628905298.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FC,000,00674,185,80,80,96,FF
2021-08-14T01:41:38.805Z,1628905298.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:41:39.238Z,1628905299.238 [Micromodem](INFO): Nmea in: $SNTTA,0.050887,,,,014138.06*4B

2021-08-14T01:41:39.260Z,1628905299.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.619995 m, bearing: 22.208768 deg, deltaT: 4.509797 s, approachRate: 0.625304 m/s, LOS rate: -0.523667 deg/s, posRepo size: 4
2021-08-14T01:41:41.670Z,1628905301.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:42.025Z,1628905302.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:41:42.025Z,1628905302.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:41:42.025Z,1628905302.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:41:42.026Z,1628905302.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:41:42.432Z,1628905302.432 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FC,000,00674,185,80,80,96,FF
2021-08-14T01:41:42.433Z,1628905302.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:41:42.433Z,1628905302.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:41:42.440Z,1628905302.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:41:42.846Z,1628905302.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:41:43.237Z,1628905303.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12D,000,006AF,186,80,80,6F,FF
2021-08-14T01:41:43.237Z,1628905303.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:41:43.689Z,1628905303.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014142.51*58

2021-08-14T01:41:43.713Z,1628905303.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.159996 m, bearing: 20.103405 deg, deltaT: 4.383930 s, approachRate: 0.807495 m/s, LOS rate: -0.480246 deg/s, posRepo size: 4
2021-08-14T01:41:46.098Z,1628905306.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:46.509Z,1628905306.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:41:46.509Z,1628905306.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:41:46.509Z,1628905306.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:41:46.510Z,1628905306.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:41:46.877Z,1628905306.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12D,000,006AF,186,80,80,6F,FF
2021-08-14T01:41:46.877Z,1628905306.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:41:46.877Z,1628905306.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:41:46.879Z,1628905306.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:41:47.291Z,1628905307.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:41:47.681Z,1628905307.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,006DD,186,80,80,6F,FF
2021-08-14T01:41:47.682Z,1628905307.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:41:48.126Z,1628905308.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014146.95*54

2021-08-14T01:41:48.155Z,1628905308.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.920006 m, bearing: 20.021694 deg, deltaT: 4.470692 s, approachRate: 0.617356 m/s, LOS rate: -0.018277 deg/s, posRepo size: 4
2021-08-14T01:41:50.590Z,1628905310.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:50.917Z,1628905310.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:41:50.917Z,1628905310.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:41:50.917Z,1628905310.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:41:50.918Z,1628905310.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:41:51.321Z,1628905311.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,006DD,186,80,80,6F,FF
2021-08-14T01:41:51.321Z,1628905311.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:41:51.321Z,1628905311.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:41:51.324Z,1628905311.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:41:51.759Z,1628905311.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:41:52.133Z,1628905312.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,284,000,0070F,189,80,80,7A,FF
2021-08-14T01:41:52.133Z,1628905312.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:41:52.577Z,1628905312.577 [Micromodem](INFO): Nmea in: $SNTTA,0.249699,,,,014151.39*43

2021-08-14T01:41:52.627Z,1628905312.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.919998 m, bearing: 2.674238 deg, deltaT: 4.438763 s, approachRate: 0.675862 m/s, LOS rate: -3.908173 deg/s, posRepo size: 4
2021-08-14T01:41:54.986Z,1628905314.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:55.369Z,1628905315.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:41:55.369Z,1628905315.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:41:55.369Z,1628905315.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:41:55.370Z,1628905315.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:41:55.877Z,1628905315.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
284,000,0070F,189,80,80,7A,FF
2021-08-14T01:41:55.877Z,1628905315.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:41:55.877Z,1628905315.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:41:55.879Z,1628905315.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:41:56.185Z,1628905316.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:41:56.569Z,1628905316.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B1,000,00749,185,80,80,7A,FF
2021-08-14T01:41:56.570Z,1628905316.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:41:57.059Z,1628905317.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.400009 m, bearing: 13.013547 deg, deltaT: 4.482571 s, approachRate: 0.776343 m/s, LOS rate: 2.306558 deg/s, posRepo size: 4
2021-08-14T01:41:57.409Z,1628905317.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014155.95*56

2021-08-14T01:41:59.442Z,1628905319.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:41:59.817Z,1628905319.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:41:59.817Z,1628905319.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:41:59.817Z,1628905319.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:41:59.818Z,1628905319.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:42:00.221Z,1628905320.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B1,000,00749,185,80,80,7A,FF
2021-08-14T01:42:00.221Z,1628905320.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:42:00.221Z,1628905320.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:42:00.223Z,1628905320.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:42:00.617Z,1628905320.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:42:01.023Z,1628905321.023 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23B,000,00779,189,80,80,A5,FF
2021-08-14T01:42:01.023Z,1628905321.023 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:42:01.441Z,1628905321.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014200.29*52

2021-08-14T01:42:01.463Z,1628905321.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.280006 m, bearing: 6.097532 deg, deltaT: 4.398371 s, approachRate: 0.654787 m/s, LOS rate: -1.572404 deg/s, posRepo size: 4
2021-08-14T01:42:03.889Z,1628905323.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:42:04.274Z,1628905324.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:42:04.274Z,1628905324.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:42:04.274Z,1628905324.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:42:04.275Z,1628905324.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:42:04.657Z,1628905324.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23B,000,00779,189,80,80,A5,FF
2021-08-14T01:42:04.657Z,1628905324.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:42:04.657Z,1628905324.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:42:04.659Z,1628905324.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:42:05.067Z,1628905325.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:42:05.461Z,1628905325.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D8,000,007AC,189,80,80,6C,FF
2021-08-14T01:42:05.461Z,1628905325.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:42:05.898Z,1628905325.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014204.73*59

2021-08-14T01:42:05.939Z,1628905325.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.340004 m, bearing: 357.853582 deg, deltaT: 4.402592 s, approachRate: 0.695045 m/s, LOS rate: -1.872521 deg/s, posRepo size: 4
2021-08-14T01:42:08.345Z,1628905328.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:42:08.693Z,1628905328.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:42:08.694Z,1628905328.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:42:08.694Z,1628905328.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:42:08.695Z,1628905328.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:42:09.093Z,1628905329.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D8,000,007AC,189,80,80,6C,FF
2021-08-14T01:42:09.093Z,1628905329.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:42:09.094Z,1628905329.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:42:09.097Z,1628905329.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:42:09.500Z,1628905329.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:42:09.903Z,1628905329.903 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,224,000,007E2,189,80,80,7C,FF
2021-08-14T01:42:09.903Z,1628905329.903 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:42:10.361Z,1628905330.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014209.17*56

2021-08-14T01:42:10.383Z,1628905330.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.580002 m, bearing: 6.645387 deg, deltaT: 4.493166 s, approachRate: 0.721095 m/s, LOS rate: 1.956707 deg/s, posRepo size: 4
2021-08-14T01:42:12.809Z,1628905332.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:42:13.142Z,1628905333.142 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:42:13.142Z,1628905333.142 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:42:13.142Z,1628905333.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:42:13.143Z,1628905333.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:42:13.537Z,1628905333.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
224,000,007E2,189,80,80,7C,FF
2021-08-14T01:42:13.537Z,1628905333.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:42:13.537Z,1628905333.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:42:13.539Z,1628905333.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:42:13.955Z,1628905333.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:42:14.346Z,1628905334.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,208,000,0081B,187,80,80,61,FF
2021-08-14T01:42:14.346Z,1628905334.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:42:14.814Z,1628905334.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014213.61*5C

2021-08-14T01:42:14.877Z,1628905334.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.000000 m, bearing: 7.895682 deg, deltaT: 4.425910 s, approachRate: 0.772722 m/s, LOS rate: 0.282494 deg/s, posRepo size: 4
2021-08-14T01:42:17.205Z,1628905337.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:42:17.577Z,1628905337.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:42:17.577Z,1628905337.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:42:17.578Z,1628905337.578 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:42:17.579Z,1628905337.579 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:42:17.983Z,1628905337.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
208,000,0081B,187,80,80,61,FF
2021-08-14T01:42:17.983Z,1628905337.983 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:42:17.983Z,1628905337.983 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:42:17.985Z,1628905337.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:42:18.411Z,1628905338.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:42:18.802Z,1628905338.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,0084C,186,80,80,8D,FF
2021-08-14T01:42:18.802Z,1628905338.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:42:19.237Z,1628905339.237 [Micromodem](INFO): Nmea in: $SNTTA,,0.172969,,,014218.06*4A

2021-08-14T01:42:19.253Z,1628905339.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.940002 m, bearing: 56.614140 deg, deltaT: 4.507550 s, approachRate: 0.652240 m/s, LOS rate: 10.808190 deg/s, posRepo size: 4
2021-08-14T01:42:21.674Z,1628905341.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:42:22.029Z,1628905342.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:42:22.029Z,1628905342.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:42:22.029Z,1628905342.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:42:22.030Z,1628905342.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:42:22.433Z,1628905342.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,0084C,186,80,80,8D,FF
2021-08-14T01:42:22.434Z,1628905342.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:42:22.434Z,1628905342.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:42:22.441Z,1628905342.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:42:22.833Z,1628905342.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:42:23.666Z,1628905343.666 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014222.51*5D

2021-08-14T01:42:24.513Z,1628905344.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:42:26.076Z,1628905346.076 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,8D,FF
2021-08-14T01:42:26.077Z,1628905346.077 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,8D,FF
2021-08-14T01:42:26.077Z,1628905346.077 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:42:27.302Z,1628905347.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:42:27.677Z,1628905347.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:42:27.677Z,1628905347.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:42:27.677Z,1628905347.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:42:27.678Z,1628905347.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:42:28.081Z,1628905348.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,8D,FF
2021-08-14T01:42:28.081Z,1628905348.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:42:28.081Z,1628905348.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:42:28.083Z,1628905348.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:42:28.535Z,1628905348.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:42:28.550Z,1628905348.550 [Micromodem](INFO): Nmea in: 4000*27

2021-08-14T01:42:28.551Z,1628905348.551 [Micromodem](ERROR): Response from modem failed NMEA checksum: 4000*27
 expected 0
2021-08-14T01:42:28.897Z,1628905348.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,008CB,185,80,80,6F,FF
2021-08-14T01:42:28.898Z,1628905348.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:42:29.330Z,1628905349.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.559998 m, bearing: 52.121358 deg, deltaT: 10.044674 s, approachRate: 0.758610 m/s, LOS rate: -0.447280 deg/s, posRepo size: 4
2021-08-14T01:42:31.804Z,1628905351.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:42:32.121Z,1628905352.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:42:32.121Z,1628905352.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:42:32.121Z,1628905352.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:42:32.122Z,1628905352.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:42:32.541Z,1628905352.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,008CB,185,80,80,6F,FF
2021-08-14T01:42:32.541Z,1628905352.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:42:32.542Z,1628905352.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:42:32.543Z,1628905352.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:42:32.936Z,1628905352.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:42:33.342Z,1628905353.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,00900,188,80,80,47,FF
2021-08-14T01:42:33.343Z,1628905353.343 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:42:33.773Z,1628905353.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014232.62*5C

2021-08-14T01:42:33.808Z,1628905353.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.740005 m, bearing: 61.221349 deg, deltaT: 4.453454 s, approachRate: 0.714054 m/s, LOS rate: 2.043356 deg/s, posRepo size: 4
2021-08-14T01:42:36.178Z,1628905356.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:42:36.561Z,1628905356.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:42:36.561Z,1628905356.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:42:36.562Z,1628905356.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:42:36.562Z,1628905356.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:42:36.974Z,1628905356.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,00900,188,80,80,47,FF
2021-08-14T01:42:36.974Z,1628905356.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:42:36.974Z,1628905356.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:42:36.976Z,1628905356.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:42:37.401Z,1628905357.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:42:37.808Z,1628905357.808 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D94,000,00933,189,80,80,3D,FF
2021-08-14T01:42:37.809Z,1628905357.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:42:38.226Z,1628905358.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014237.05*58

2021-08-14T01:42:38.247Z,1628905358.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.800003 m, bearing: 65.391172 deg, deltaT: 4.432392 s, approachRate: 0.690372 m/s, LOS rate: 0.940761 deg/s, posRepo size: 4
2021-08-14T01:42:40.654Z,1628905360.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:42:41.009Z,1628905361.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:42:41.009Z,1628905361.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:42:41.009Z,1628905361.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:42:41.010Z,1628905361.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:42:41.425Z,1628905361.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D94,000,00933,189,80,80,3D,FF
2021-08-14T01:42:41.425Z,1628905361.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:42:41.425Z,1628905361.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:42:41.427Z,1628905361.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:42:41.824Z,1628905361.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:42:42.225Z,1628905362.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,0096B,187,80,80,1E,FF
2021-08-14T01:42:42.225Z,1628905362.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:42:42.645Z,1628905362.645 [Micromodem](INFO): Nmea in: $SNTTA,0.094725,,,,014241.50*4A

2021-08-14T01:42:42.696Z,1628905362.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.160004 m, bearing: 16.648612 deg, deltaT: 4.406777 s, approachRate: 0.762462 m/s, LOS rate: -11.060818 deg/s, posRepo size: 4
2021-08-14T01:42:45.085Z,1628905365.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:42:45.453Z,1628905365.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:42:45.453Z,1628905365.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:42:45.453Z,1628905365.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:42:45.454Z,1628905365.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:42:45.862Z,1628905365.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,0096B,187,80,80,1E,FF
2021-08-14T01:42:45.862Z,1628905365.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:42:45.862Z,1628905365.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:42:45.864Z,1628905365.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:42:46.261Z,1628905366.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:42:46.674Z,1628905366.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5E,000,009A0,18A,80,80,1C,FF
2021-08-14T01:42:46.677Z,1628905366.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:42:47.093Z,1628905367.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014245.93*52

2021-08-14T01:42:47.127Z,1628905367.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.339996 m, bearing: 67.638154 deg, deltaT: 4.572661 s, approachRate: 0.695436 m/s, LOS rate: 11.150956 deg/s, posRepo size: 4
2021-08-14T01:42:49.522Z,1628905369.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:42:49.897Z,1628905369.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:42:49.897Z,1628905369.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:42:49.897Z,1628905369.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:42:49.898Z,1628905369.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:42:50.301Z,1628905370.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5E,000,009A0,18A,80,80,1C,FF
2021-08-14T01:42:50.302Z,1628905370.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:42:50.302Z,1628905370.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:42:50.303Z,1628905370.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:42:50.712Z,1628905370.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:42:51.538Z,1628905371.538 [Micromodem](INFO): Nmea in: $SNTTA,0.090255,,,,014250.37*4D

2021-08-14T01:42:52.355Z,1628905372.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:42:53.938Z,1628905373.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,18A,80,80,1C,FF
2021-08-14T01:42:53.939Z,1628905373.939 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,18A,80,80,1C,FF
2021-08-14T01:42:53.939Z,1628905373.939 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:42:55.170Z,1628905375.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:42:55.553Z,1628905375.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:42:55.553Z,1628905375.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:42:55.554Z,1628905375.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:42:55.555Z,1628905375.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:42:55.961Z,1628905375.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,18A,80,80,1C,FF
2021-08-14T01:42:55.961Z,1628905375.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:42:55.962Z,1628905375.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:42:55.963Z,1628905375.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:42:56.359Z,1628905376.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:42:56.793Z,1628905376.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,00A16,188,80,80,59,FF
2021-08-14T01:42:56.793Z,1628905376.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:42:56.797Z,1628905376.797 [Micromodem](INFO): Nmea in: $SNTTA,0.184870,0.184951,,,014256.03*5B

2021-08-14T01:42:57.194Z,1628905377.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.420006 m, bearing: 61.859288 deg, deltaT: 10.070949 s, approachRate: 0.703013 m/s, LOS rate: -0.573815 deg/s, posRepo size: 4
2021-08-14T01:42:59.606Z,1628905379.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:00.001Z,1628905380.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:43:00.001Z,1628905380.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:43:00.001Z,1628905380.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:43:00.002Z,1628905380.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:43:00.407Z,1628905380.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,00A16,188,80,80,59,FF
2021-08-14T01:43:00.407Z,1628905380.407 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:43:00.408Z,1628905380.408 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:43:00.409Z,1628905380.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:43:00.808Z,1628905380.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:43:01.217Z,1628905381.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,00A50,18A,80,80,3C,FF
2021-08-14T01:43:01.217Z,1628905381.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:43:01.649Z,1628905381.649 [Micromodem](INFO): Nmea in: $SNTTA,0.085886,,,,014300.48*41

2021-08-14T01:43:01.707Z,1628905381.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.900002 m, bearing: 63.364218 deg, deltaT: 4.348377 s, approachRate: 0.800298 m/s, LOS rate: 0.346090 deg/s, posRepo size: 4
2021-08-14T01:43:04.078Z,1628905384.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:04.452Z,1628905384.452 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:43:04.453Z,1628905384.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:43:04.453Z,1628905384.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:43:04.455Z,1628905384.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:43:04.841Z,1628905384.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,00A50,18A,80,80,3C,FF
2021-08-14T01:43:04.841Z,1628905384.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:43:04.841Z,1628905384.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:43:04.843Z,1628905384.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:43:05.260Z,1628905385.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:43:05.701Z,1628905385.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,00A84,186,80,80,67,FF
2021-08-14T01:43:05.701Z,1628905385.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:43:06.090Z,1628905386.090 [Micromodem](INFO): Nmea in: $SNTTA,0.088561,,,,014304.91*48

2021-08-14T01:43:06.098Z,1628905386.098 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T01:43:06.115Z,1628905386.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.020004 m, bearing: 58.579295 deg, deltaT: 4.569744 s, approachRate: 0.682752 m/s, LOS rate: -1.047088 deg/s, posRepo size: 4
2021-08-14T01:43:08.582Z,1628905388.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:08.885Z,1628905388.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:43:08.886Z,1628905388.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:43:08.886Z,1628905388.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:43:08.887Z,1628905388.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:43:09.289Z,1628905389.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,00A84,186,80,80,67,FF
2021-08-14T01:43:09.289Z,1628905389.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:43:09.289Z,1628905389.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:43:09.291Z,1628905389.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:43:09.692Z,1628905389.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:43:10.101Z,1628905390.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,00ABA,186,80,80,96,FF
2021-08-14T01:43:10.101Z,1628905390.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:43:10.550Z,1628905390.550 [Micromodem](INFO): Nmea in: $SNTTA,0.479639,0.479651,,,014309.36*5A

2021-08-14T01:43:10.589Z,1628905390.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.260002 m, bearing: 56.575912 deg, deltaT: 4.331838 s, approachRate: 0.747950 m/s, LOS rate: -0.462479 deg/s, posRepo size: 4
2021-08-14T01:43:12.964Z,1628905392.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:13.333Z,1628905393.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:43:13.334Z,1628905393.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:43:13.334Z,1628905393.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:43:13.335Z,1628905393.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:43:13.736Z,1628905393.736 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,00ABA,186,80,80,96,FF
2021-08-14T01:43:13.737Z,1628905393.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:43:13.737Z,1628905393.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:43:13.748Z,1628905393.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:43:14.149Z,1628905394.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:43:14.966Z,1628905394.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014313.82*50

2021-08-14T01:43:15.830Z,1628905395.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:17.377Z,1628905397.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,96,FF
2021-08-14T01:43:17.377Z,1628905397.377 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,96,FF
2021-08-14T01:43:17.378Z,1628905397.378 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:43:17.807Z,1628905397.807 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T01:43:18.637Z,1628905398.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:18.997Z,1628905398.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:43:18.997Z,1628905398.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:43:18.997Z,1628905398.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:43:18.998Z,1628905398.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:43:19.393Z,1628905399.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,96,FF
2021-08-14T01:43:19.393Z,1628905399.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:43:19.393Z,1628905399.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:43:19.395Z,1628905399.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:43:19.812Z,1628905399.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:43:20.650Z,1628905400.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014319.47*53

2021-08-14T01:43:21.421Z,1628905401.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,037DC,186,80,80,61,FF
2021-08-14T01:43:21.422Z,1628905401.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:43:21.825Z,1628905401.825 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T01:43:21.876Z,1628905401.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 820.500061 m, bearing: 55.956707 deg, deltaT: 11.344091 s, approachRate: 61.110233 m/s, LOS rate: -0.054584 deg/s, posRepo size: 4
2021-08-14T01:43:21.877Z,1628905401.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 820.50 m. Resuming terminal guidance.
2021-08-14T01:43:21.877Z,1628905401.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T01:43:24.274Z,1628905404.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:24.646Z,1628905404.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:43:24.646Z,1628905404.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:43:24.646Z,1628905404.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:43:24.647Z,1628905404.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:43:25.049Z,1628905405.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,037DC,186,80,80,61,FF
2021-08-14T01:43:25.050Z,1628905405.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:43:25.050Z,1628905405.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:43:25.051Z,1628905405.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:43:25.443Z,1628905405.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:43:25.853Z,1628905405.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,00B79,186,80,80,6E,FF
2021-08-14T01:43:25.854Z,1628905405.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:43:26.290Z,1628905406.290 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014325.12*5C

2021-08-14T01:43:26.346Z,1628905406.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.720001 m, bearing: 53.939612 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T01:43:26.347Z,1628905406.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 53.939612deg and heading rate command to 0 deg/s.
2021-08-14T01:43:26.770Z,1628905406.770 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T01:43:28.850Z,1628905408.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:29.077Z,1628905409.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:43:29.077Z,1628905409.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:43:29.077Z,1628905409.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:43:29.078Z,1628905409.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:43:29.491Z,1628905409.491 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,00B79,186,80,80,6E,FF
2021-08-14T01:43:29.491Z,1628905409.491 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:43:29.491Z,1628905409.491 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:43:29.494Z,1628905409.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:43:29.904Z,1628905409.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:43:30.726Z,1628905410.726 [Micromodem](INFO): Nmea in: $SNTTA,0.377422,,,,014329.57*48

2021-08-14T01:43:31.538Z,1628905411.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:31.911Z,1628905411.911 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:43:33.117Z,1628905413.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,6E,FF
2021-08-14T01:43:33.117Z,1628905413.117 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,6E,FF
2021-08-14T01:43:33.117Z,1628905413.117 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:43:34.383Z,1628905414.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:34.749Z,1628905414.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:43:34.749Z,1628905414.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:43:34.749Z,1628905414.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:43:34.750Z,1628905414.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:43:35.147Z,1628905415.147 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,6E,FF
2021-08-14T01:43:35.147Z,1628905415.147 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:43:35.147Z,1628905415.147 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:43:35.149Z,1628905415.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:43:35.544Z,1628905415.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:43:35.958Z,1628905415.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,00BEF,186,80,80,6F,FF
2021-08-14T01:43:35.958Z,1628905415.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:43:36.389Z,1628905416.389 [Micromodem](INFO): Nmea in: $SNTTA,0.103886,,,,014335.22*44

2021-08-14T01:43:36.442Z,1628905416.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.800003 m, bearing: 72.709092 deg, deltaT: 10.088945 s, approachRate: 0.701758 m/s, LOS rate: 1.860401 deg/s, posRepo size: 2
2021-08-14T01:43:36.463Z,1628905416.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.800003 m,
      bearing: 72.709092 deg,
      approachRate: 0.701758 m/s,
      LOS rate: 1.860401 deg/s,
      cmd update: 5.581202 deg/s,
      cmd heading: 53.939612 deg,
      new cmd heading: 53.939612 deg.

2021-08-14T01:43:38.859Z,1628905418.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:39.181Z,1628905419.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:43:39.182Z,1628905419.182 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:43:39.182Z,1628905419.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:43:39.183Z,1628905419.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:43:39.581Z,1628905419.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,00BEF,186,80,80,6F,FF
2021-08-14T01:43:39.582Z,1628905419.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:43:39.582Z,1628905419.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:43:39.583Z,1628905419.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:43:39.989Z,1628905419.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:43:40.805Z,1628905420.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,014D1,186,80,80,7A,FF
2021-08-14T01:43:40.806Z,1628905420.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:43:40.809Z,1628905420.809 [Micromodem](INFO): Nmea in: $SNTTA,0.334759,0.334697,,,014339.65*52

2021-08-14T01:43:41.235Z,1628905421.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.239990 m, bearing: 72.636412 deg, deltaT: 4.885829 s, approachRate: 27.925657 m/s, LOS rate: -0.014876 deg/s, posRepo size: 3
2021-08-14T01:43:41.237Z,1628905421.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.239990 m,
      bearing: 72.636412 deg,
      approachRate: 27.925657 m/s,
      LOS rate: -0.014876 deg/s,
      cmd update: -0.044627 deg/s,
      cmd heading: 81.209129 deg,
      new cmd heading: 83.043815 deg.

2021-08-14T01:43:42.030Z,1628905422.030 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:43:43.666Z,1628905423.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:44.025Z,1628905424.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:43:44.025Z,1628905424.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:43:44.025Z,1628905424.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:43:44.026Z,1628905424.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:43:44.438Z,1628905424.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,014D1,186,80,80,7A,FF
2021-08-14T01:43:44.438Z,1628905424.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:43:44.439Z,1628905424.439 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:43:44.445Z,1628905424.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:43:44.850Z,1628905424.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:43:45.238Z,1628905425.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,00C4E,186,80,80,7A,FF
2021-08-14T01:43:45.238Z,1628905425.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:43:45.700Z,1628905425.700 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014344.52*5F

2021-08-14T01:43:45.770Z,1628905425.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.500000 m, bearing: 71.350301 deg, deltaT: 4.370213 s, approachRate: -29.916161 m/s, LOS rate: -0.294290 deg/s, posRepo size: 4
2021-08-14T01:43:45.782Z,1628905425.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.500000 m,
      bearing: 71.350301 deg,
      approachRate: -29.916161 m/s,
      LOS rate: -0.294290 deg/s,
      cmd update: -0.882871 deg/s,
      cmd heading: 81.013798 deg,
      new cmd heading: 80.992079 deg.

2021-08-14T01:43:46.881Z,1628905426.881 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T01:43:48.120Z,1628905428.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:48.513Z,1628905428.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:43:48.513Z,1628905428.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:43:48.513Z,1628905428.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:43:48.514Z,1628905428.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:43:48.881Z,1628905428.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,00C4E,186,80,80,7A,FF
2021-08-14T01:43:48.881Z,1628905428.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:43:48.882Z,1628905428.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:43:48.883Z,1628905428.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:43:49.305Z,1628905429.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:43:49.729Z,1628905429.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,00C6A,186,80,80,87,FF
2021-08-14T01:43:49.730Z,1628905429.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:43:50.133Z,1628905430.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014348.95*58

2021-08-14T01:43:50.155Z,1628905430.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.180008 m, bearing: 105.967653 deg, deltaT: 4.554223 s, approachRate: 0.368890 m/s, LOS rate: 7.601154 deg/s, posRepo size: 4
2021-08-14T01:43:50.178Z,1628905430.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.180008 m,
      bearing: 105.967653 deg,
      approachRate: 0.368890 m/s,
      LOS rate: 7.601154 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 76.999102 deg,
      new cmd heading: 76.712072 deg.

2021-08-14T01:43:51.787Z,1628905431.787 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T01:43:52.598Z,1628905432.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:52.941Z,1628905432.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:43:52.942Z,1628905432.942 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:43:52.942Z,1628905432.942 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:43:52.943Z,1628905432.943 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:43:53.342Z,1628905433.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,00C6A,186,80,80,87,FF
2021-08-14T01:43:53.342Z,1628905433.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:43:53.342Z,1628905433.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:43:53.345Z,1628905433.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:43:53.759Z,1628905433.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:43:54.157Z,1628905434.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,00C8B,186,80,80,87,FF
2021-08-14T01:43:54.157Z,1628905434.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:43:54.585Z,1628905434.585 [Micromodem](INFO): Nmea in: $SNTTA,0.105427,,,,014353.42*43

2021-08-14T01:43:54.649Z,1628905434.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.159988 m, bearing: 104.195970 deg, deltaT: 4.333883 s, approachRate: 0.456861 m/s, LOS rate: -0.408798 deg/s, posRepo size: 4
2021-08-14T01:43:54.651Z,1628905434.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.159988 m,
      bearing: 104.195970 deg,
      approachRate: 0.456861 m/s,
      LOS rate: -0.408798 deg/s,
      cmd update: -1.226394 deg/s,
      cmd heading: 129.137088 deg,
      new cmd heading: 134.771940 deg.

2021-08-14T01:43:56.985Z,1628905436.985 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T01:43:56.999Z,1628905436.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:43:57.389Z,1628905437.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:43:57.389Z,1628905437.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:43:57.390Z,1628905437.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:43:57.391Z,1628905437.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:43:57.805Z,1628905437.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00C8B,186,80,80,87,FF
2021-08-14T01:43:57.805Z,1628905437.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:43:57.805Z,1628905437.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:43:57.806Z,1628905437.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:43:58.192Z,1628905438.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:43:58.606Z,1628905438.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D40,000,00CA8,186,80,80,87,FF
2021-08-14T01:43:58.606Z,1628905438.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:43:58.611Z,1628905438.611 [Micromodem](INFO): Nmea in: $SNTTA,0.106684,0.261884,,,014357.88*56

2021-08-14T01:43:59.031Z,1628905439.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.900009 m, bearing: 135.105718 deg, deltaT: 4.521172 s, approachRate: 0.384861 m/s, LOS rate: 6.836667 deg/s, posRepo size: 4
2021-08-14T01:43:59.033Z,1628905439.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.900009 m,
      bearing: 135.105718 deg,
      approachRate: 0.384861 m/s,
      LOS rate: 6.836667 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 123.599652 deg,
      new cmd heading: 123.181809 deg.

2021-08-14T01:44:01.434Z,1628905441.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:44:01.821Z,1628905441.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:44:01.821Z,1628905441.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:44:01.821Z,1628905441.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:44:01.822Z,1628905441.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:44:02.230Z,1628905442.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D40,000,00CA8,186,80,80,87,FF
2021-08-14T01:44:02.230Z,1628905442.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:44:02.230Z,1628905442.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:44:02.232Z,1628905442.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:44:02.648Z,1628905442.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:44:03.034Z,1628905443.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,00CC4,186,80,80,87,FF
2021-08-14T01:44:03.034Z,1628905443.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:44:03.481Z,1628905443.481 [Micromodem](INFO): Nmea in: $SNTTA,0.107872,,,,014402.30*4B

2021-08-14T01:44:03.497Z,1628905443.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.580002 m, bearing: 143.634630 deg, deltaT: 4.402445 s, approachRate: 0.381604 m/s, LOS rate: 1.937313 deg/s, posRepo size: 4
2021-08-14T01:44:03.499Z,1628905443.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.580002 m,
      bearing: 143.634630 deg,
      approachRate: 0.381604 m/s,
      LOS rate: 1.937313 deg/s,
      cmd update: 5.811938 deg/s,
      cmd heading: 176.450294 deg,
      new cmd heading: 181.278374 deg.

2021-08-14T01:44:05.905Z,1628905445.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:44:06.269Z,1628905446.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:44:06.269Z,1628905446.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:44:06.269Z,1628905446.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:44:06.270Z,1628905446.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:44:06.673Z,1628905446.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,00CC4,186,80,80,87,FF
2021-08-14T01:44:06.673Z,1628905446.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:44:06.673Z,1628905446.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:44:06.675Z,1628905446.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:44:06.813Z,1628905446.813 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-14T01:44:07.084Z,1628905447.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:44:07.486Z,1628905447.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA6,000,00CB5,189,80,80,87,FF
2021-08-14T01:44:07.487Z,1628905447.487 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:44:07.921Z,1628905447.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014406.75*5B

2021-08-14T01:44:07.965Z,1628905447.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.679993 m, bearing: 179.969488 deg, deltaT: 4.408391 s, approachRate: -0.204158 m/s, LOS rate: 8.242204 deg/s, posRepo size: 4
2021-08-14T01:44:07.967Z,1628905447.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.679993 m,
      bearing: 179.969488 deg,
      approachRate: -0.204158 m/s,
      LOS rate: 8.242204 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 202.095899 deg,
      new cmd heading: 204.752943 deg.

2021-08-14T01:44:10.324Z,1628905450.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:44:10.720Z,1628905450.720 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:44:10.721Z,1628905450.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:44:10.721Z,1628905450.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:44:10.722Z,1628905450.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:44:11.122Z,1628905451.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA6,000,00CB5,189,80,80,87,FF
2021-08-14T01:44:11.122Z,1628905451.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:44:11.122Z,1628905451.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:44:11.124Z,1628905451.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:44:11.528Z,1628905451.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:44:11.930Z,1628905451.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B1C,000,007BC,18A,80,80,AC,FF
2021-08-14T01:44:11.930Z,1628905451.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:44:12.369Z,1628905452.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014411.20*5D

2021-08-14T01:44:12.411Z,1628905452.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.300003 m, bearing: 218.222877 deg, deltaT: 4.449832 s, approachRate: -17.164690 m/s, LOS rate: 8.596592 deg/s, posRepo size: 4
2021-08-14T01:44:12.414Z,1628905452.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.300003 m,
      bearing: 218.222877 deg,
      approachRate: -17.164690 m/s,
      LOS rate: 8.596592 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 255.489145 deg,
      new cmd heading: 260.947765 deg.

2021-08-14T01:44:14.833Z,1628905454.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:44:15.157Z,1628905455.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:44:15.157Z,1628905455.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:44:15.157Z,1628905455.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:44:15.158Z,1628905455.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:44:15.557Z,1628905455.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B1C,000,007BC,18A,80,80,AC,FF
2021-08-14T01:44:15.557Z,1628905455.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:44:15.557Z,1628905455.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:44:15.559Z,1628905455.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:44:15.969Z,1628905455.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:44:16.370Z,1628905456.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D62,000,00C8D,189,80,80,AC,FF
2021-08-14T01:44:16.370Z,1628905456.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:44:16.857Z,1628905456.857 [Micromodem](INFO): Nmea in: $SNTTA,0.106319,,,,014415.63*4C

2021-08-14T01:44:16.900Z,1628905456.900 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T01:44:16.933Z,1628905456.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.279999 m, bearing: 206.517381 deg, deltaT: 4.454087 s, approachRate: 16.609463 m/s, LOS rate: -2.628035 deg/s, posRepo size: 4
2021-08-14T01:44:16.935Z,1628905456.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.279999 m,
      bearing: 206.517381 deg,
      approachRate: 16.609463 m/s,
      LOS rate: -2.628035 deg/s,
      cmd update: -7.884105 deg/s,
      cmd heading: 308.701659 deg,
      new cmd heading: 314.960199 deg.

2021-08-14T01:44:19.218Z,1628905459.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:44:19.597Z,1628905459.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:44:19.597Z,1628905459.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:44:19.597Z,1628905459.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:44:19.598Z,1628905459.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:44:20.001Z,1628905460.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D62,000,00C8D,189,80,80,AC,FF
2021-08-14T01:44:20.001Z,1628905460.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:44:20.001Z,1628905460.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:44:20.003Z,1628905460.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:44:20.418Z,1628905460.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:44:20.834Z,1628905460.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC3,000,00C6C,189,80,80,87,FF
2021-08-14T01:44:20.835Z,1628905460.835 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:44:21.258Z,1628905461.258 [Micromodem](INFO): Nmea in: $SNTTA,0.260476,,,,014420.08*4A

2021-08-14T01:44:21.279Z,1628905461.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.300018 m, bearing: 217.497744 deg, deltaT: 4.520394 s, approachRate: -0.438011 m/s, LOS rate: 2.429072 deg/s, posRepo size: 4
2021-08-14T01:44:21.306Z,1628905461.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.300018 m,
      bearing: 217.497744 deg,
      approachRate: -0.438011 m/s,
      LOS rate: 2.429072 deg/s,
      cmd update: 7.287216 deg/s,
      cmd heading: 273.029930 deg,
      new cmd heading: 270.160226 deg.

2021-08-14T01:44:22.059Z,1628905462.059 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T01:44:23.675Z,1628905463.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:44:24.042Z,1628905464.042 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:44:24.042Z,1628905464.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:44:24.042Z,1628905464.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:44:24.043Z,1628905464.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:44:24.469Z,1628905464.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC3,000,00C6C,189,80,80,87,FF
2021-08-14T01:44:24.469Z,1628905464.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:44:24.470Z,1628905464.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:44:24.475Z,1628905464.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:44:24.864Z,1628905464.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:44:25.261Z,1628905465.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,00C6C,189,80,80,87,FF
2021-08-14T01:44:25.262Z,1628905465.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:44:25.697Z,1628905465.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014424.55*59

2021-08-14T01:44:25.766Z,1628905465.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.300018 m, bearing: 206.041194 deg, deltaT: 4.352361 s, approachRate: 0.000000 m/s, LOS rate: -2.632261 deg/s, posRepo size: 4
2021-08-14T01:44:25.773Z,1628905465.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.300018 m,
      bearing: 206.041194 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.632261 deg/s,
      cmd update: -7.896782 deg/s,
      cmd heading: 304.852240 deg,
      new cmd heading: 308.380091 deg.

2021-08-14T01:44:28.113Z,1628905468.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:44:28.521Z,1628905468.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:44:28.521Z,1628905468.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:44:28.521Z,1628905468.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:44:28.522Z,1628905468.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:44:28.908Z,1628905468.908 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,00C6C,189,80,80,87,FF
2021-08-14T01:44:28.908Z,1628905468.908 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:44:28.909Z,1628905468.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:44:28.910Z,1628905468.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:44:29.301Z,1628905469.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:44:29.709Z,1628905469.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,00C17,185,80,80,87,FF
2021-08-14T01:44:29.710Z,1628905469.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:44:30.125Z,1628905470.125 [Micromodem](INFO): Nmea in: $SNTTA,0.108481,,,,014428.98*4E

2021-08-14T01:44:30.151Z,1628905470.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.200012 m, bearing: 204.923953 deg, deltaT: 4.496151 s, approachRate: -1.134305 m/s, LOS rate: -0.248488 deg/s, posRepo size: 4
2021-08-14T01:44:30.165Z,1628905470.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.200012 m,
      bearing: 204.923953 deg,
      approachRate: -1.134305 m/s,
      LOS rate: -0.248488 deg/s,
      cmd update: -0.745465 deg/s,
      cmd heading: 269.366581 deg,
      new cmd heading: 266.407736 deg.

2021-08-14T01:44:32.574Z,1628905472.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:44:32.937Z,1628905472.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:44:32.937Z,1628905472.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:44:32.937Z,1628905472.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:44:32.938Z,1628905472.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:44:33.338Z,1628905473.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,00C17,185,80,80,87,FF
2021-08-14T01:44:33.338Z,1628905473.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:44:33.338Z,1628905473.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:44:33.341Z,1628905473.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:44:33.769Z,1628905473.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:44:34.150Z,1628905474.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,397,000,00BF4,189,80,80,6C,FF
2021-08-14T01:44:34.150Z,1628905474.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:44:34.581Z,1628905474.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014433.41*5A

2021-08-14T01:44:34.631Z,1628905474.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.100006 m, bearing: 198.413293 deg, deltaT: 4.386730 s, approachRate: -0.478718 m/s, LOS rate: -1.484171 deg/s, posRepo size: 4
2021-08-14T01:44:34.634Z,1628905474.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.100006 m,
      bearing: 198.413293 deg,
      approachRate: -0.478718 m/s,
      LOS rate: -1.484171 deg/s,
      cmd update: -4.452514 deg/s,
      cmd heading: 266.093449 deg,
      new cmd heading: 265.747138 deg.

2021-08-14T01:44:37.042Z,1628905477.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:44:37.389Z,1628905477.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:44:37.389Z,1628905477.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:44:37.389Z,1628905477.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:44:37.390Z,1628905477.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:44:37.806Z,1628905477.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
397,000,00BF4,189,80,80,6C,FF
2021-08-14T01:44:37.806Z,1628905477.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:44:37.806Z,1628905477.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:44:37.807Z,1628905477.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:44:38.190Z,1628905478.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:44:38.601Z,1628905478.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BD9,189,80,80,6C,FF
2021-08-14T01:44:38.601Z,1628905478.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:44:39.065Z,1628905479.065 [Micromodem](INFO): Nmea in: $SNTTA,0.098371,,,,014437.88*41

2021-08-14T01:44:39.132Z,1628905479.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.480011 m, bearing: 196.959447 deg, deltaT: 4.495147 s, approachRate: -0.360388 m/s, LOS rate: -0.323426 deg/s, posRepo size: 4
2021-08-14T01:44:39.134Z,1628905479.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.480011 m,
      bearing: 196.959447 deg,
      approachRate: -0.360388 m/s,
      LOS rate: -0.323426 deg/s,
      cmd update: -0.970277 deg/s,
      cmd heading: 246.096585 deg,
      new cmd heading: 243.986623 deg.

2021-08-14T01:44:41.448Z,1628905481.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:44:41.861Z,1628905481.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:44:41.861Z,1628905481.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:44:41.861Z,1628905481.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:44:41.862Z,1628905481.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:44:42.221Z,1628905482.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BD9,189,80,80,6C,FF
2021-08-14T01:44:42.221Z,1628905482.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:44:42.221Z,1628905482.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:44:42.223Z,1628905482.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:44:42.652Z,1628905482.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:44:43.029Z,1628905483.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00979,189,80,80,A0,FF
2021-08-14T01:44:43.030Z,1628905483.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:44:43.469Z,1628905483.469 [Micromodem](INFO): Nmea in: $SNTTA,0.052702,,,,014442.30*46

2021-08-14T01:44:43.502Z,1628905483.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.000008 m, bearing: 195.932637 deg, deltaT: 4.395234 s, approachRate: -8.299900 m/s, LOS rate: -0.233619 deg/s, posRepo size: 4
2021-08-14T01:44:43.505Z,1628905483.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.000008 m,
      bearing: 195.932637 deg,
      approachRate: -8.299900 m/s,
      LOS rate: -0.233619 deg/s,
      cmd update: -0.700857 deg/s,
      cmd heading: 241.828299 deg,
      new cmd heading: 241.395998 deg.

2021-08-14T01:44:45.938Z,1628905485.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:44:46.265Z,1628905486.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:44:46.265Z,1628905486.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:44:46.265Z,1628905486.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:44:46.266Z,1628905486.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:44:46.666Z,1628905486.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00979,189,80,80,A0,FF
2021-08-14T01:44:46.666Z,1628905486.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:44:46.666Z,1628905486.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:44:46.670Z,1628905486.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:44:47.072Z,1628905487.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:44:47.923Z,1628905487.923 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014446.74*5E

2021-08-14T01:44:48.778Z,1628905488.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:44:50.306Z,1628905490.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80,A0,FF
2021-08-14T01:44:50.306Z,1628905490.306 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80,A0,FF
2021-08-14T01:44:50.306Z,1628905490.306 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:44:51.554Z,1628905491.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:44:51.917Z,1628905491.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:44:51.917Z,1628905491.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:44:51.917Z,1628905491.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:44:51.918Z,1628905491.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:44:52.327Z,1628905492.327 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,A0,FF
2021-08-14T01:44:52.328Z,1628905492.328 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:44:52.328Z,1628905492.328 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:44:52.330Z,1628905492.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:44:52.751Z,1628905492.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:44:53.135Z,1628905493.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39F,000,00B78,189,80,80,9A,FF
2021-08-14T01:44:53.136Z,1628905493.136 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:44:53.577Z,1628905493.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014452.40*5C

2021-08-14T01:44:53.615Z,1628905493.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.660004 m, bearing: 195.922378 deg, deltaT: 10.106436 s, approachRate: 3.033710 m/s, LOS rate: -0.001015 deg/s, posRepo size: 4
2021-08-14T01:44:53.617Z,1628905493.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.660004 m,
      bearing: 195.922378 deg,
      approachRate: 3.033710 m/s,
      LOS rate: -0.001015 deg/s,
      cmd update: -0.003045 deg/s,
      cmd heading: 234.747172 deg,
      new cmd heading: 234.428487 deg.

2021-08-14T01:44:56.008Z,1628905496.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:44:56.369Z,1628905496.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:44:56.369Z,1628905496.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:44:56.369Z,1628905496.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:44:56.370Z,1628905496.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:44:56.810Z,1628905496.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39F,000,00B78,189,80,80,9A,FF
2021-08-14T01:44:56.810Z,1628905496.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:44:56.810Z,1628905496.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:44:56.811Z,1628905496.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:44:57.204Z,1628905497.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:44:57.605Z,1628905497.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A3,000,00B53,189,80,80,A5,FF
2021-08-14T01:44:57.606Z,1628905497.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:44:58.030Z,1628905498.030 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014456.88*5C

2021-08-14T01:44:58.078Z,1628905498.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.440002 m, bearing: 192.571952 deg, deltaT: 4.460004 s, approachRate: -0.497758 m/s, LOS rate: -0.751216 deg/s, posRepo size: 4
2021-08-14T01:44:58.080Z,1628905498.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.440002 m,
      bearing: 192.571952 deg,
      approachRate: -0.497758 m/s,
      LOS rate: -0.751216 deg/s,
      cmd update: -2.253648 deg/s,
      cmd heading: 234.733581 deg,
      new cmd heading: 234.732197 deg.

2021-08-14T01:45:00.507Z,1628905500.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:00.829Z,1628905500.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:45:00.829Z,1628905500.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:45:00.830Z,1628905500.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:45:00.831Z,1628905500.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:45:01.233Z,1628905501.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A3,000,00B53,189,80,80,A5,FF
2021-08-14T01:45:01.233Z,1628905501.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:45:01.233Z,1628905501.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:45:01.235Z,1628905501.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:45:01.640Z,1628905501.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:45:02.041Z,1628905502.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,370,000,00B2C,189,80,80,93,FF
2021-08-14T01:45:02.041Z,1628905502.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:45:02.489Z,1628905502.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014501.31*5D

2021-08-14T01:45:02.533Z,1628905502.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.100006 m, bearing: 193.244985 deg, deltaT: 4.474398 s, approachRate: -0.522975 m/s, LOS rate: 0.150419 deg/s, posRepo size: 4
2021-08-14T01:45:02.535Z,1628905502.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.100006 m,
      bearing: 193.244985 deg,
      approachRate: -0.522975 m/s,
      LOS rate: 0.150419 deg/s,
      cmd update: 0.451256 deg/s,
      cmd heading: 224.717943 deg,
      new cmd heading: 223.669332 deg.

2021-08-14T01:45:04.889Z,1628905504.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:05.273Z,1628905505.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:45:05.274Z,1628905505.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:45:05.274Z,1628905505.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:45:05.275Z,1628905505.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:45:05.669Z,1628905505.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
370,000,00B2C,189,80,80,93,FF
2021-08-14T01:45:05.669Z,1628905505.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:45:05.669Z,1628905505.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:45:05.671Z,1628905505.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:45:06.076Z,1628905506.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:45:06.528Z,1628905506.528 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,328,000,00B07,189,80,80,AD,FF
2021-08-14T01:45:06.529Z,1628905506.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:45:06.921Z,1628905506.921 [Micromodem](INFO): Nmea in: $SNTTA,0.106656,,,,014505.75*45

2021-08-14T01:45:06.990Z,1628905506.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.880005 m, bearing: 192.601854 deg, deltaT: 4.466812 s, approachRate: -0.496999 m/s, LOS rate: -0.143980 deg/s, posRepo size: 4
2021-08-14T01:45:06.998Z,1628905506.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.880005 m,
      bearing: 192.601854 deg,
      approachRate: -0.496999 m/s,
      LOS rate: -0.143980 deg/s,
      cmd update: -0.431939 deg/s,
      cmd heading: 226.747140 deg,
      new cmd heading: 226.934253 deg.

2021-08-14T01:45:09.350Z,1628905509.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:09.709Z,1628905509.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:45:09.709Z,1628905509.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:45:09.709Z,1628905509.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:45:09.710Z,1628905509.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:45:10.109Z,1628905510.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
328,000,00B07,189,80,80,AD,FF
2021-08-14T01:45:10.109Z,1628905510.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:45:10.110Z,1628905510.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:45:10.111Z,1628905510.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:45:10.540Z,1628905510.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:45:10.921Z,1628905510.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,00ADF,189,80,80,98,FF
2021-08-14T01:45:10.922Z,1628905510.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:45:11.366Z,1628905511.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014510.19*57

2021-08-14T01:45:11.387Z,1628905511.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.479996 m, bearing: 193.587150 deg, deltaT: 4.412191 s, approachRate: -0.543950 m/s, LOS rate: 0.223312 deg/s, posRepo size: 4
2021-08-14T01:45:11.389Z,1628905511.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.479996 m,
      bearing: 193.587150 deg,
      approachRate: -0.543950 m/s,
      LOS rate: 0.223312 deg/s,
      cmd update: 0.669936 deg/s,
      cmd heading: 224.844990 deg,
      new cmd heading: 224.664004 deg.

2021-08-14T01:45:12.999Z,1628905512.999 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T01:45:12.999Z,1628905512.999 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T01:45:12.999Z,1628905512.999 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T01:45:12.999Z,1628905512.999 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T01:45:12.999Z,1628905512.999 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T01:45:13.369Z,1628905513.369 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T01:45:13.925Z,1628905513.925 [Micromodem](INFO): Outgoing frame #1, 60 bytes: CC1017611C0000005D00000400260000000000000000151D80030C5669C08C79985BACBB7B005AB4E8BF65FBB6D7646DD093113F9B5316D9A7086A00
2021-08-14T01:45:13.925Z,1628905513.925 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:45:14.005Z,1628905514.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:14.189Z,1628905514.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:45:14.189Z,1628905514.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:45:14.190Z,1628905514.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:45:14.190Z,1628905514.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:45:14.197Z,1628905514.197 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:45:14.589Z,1628905514.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,00ADF,189,80,80,98,FF
2021-08-14T01:45:14.589Z,1628905514.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:45:14.589Z,1628905514.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:45:14.591Z,1628905514.591 [Micromodem](INFO): Nmea in: $CADRQ,014513,1,10,0,64,1*74

2021-08-14T01:45:14.591Z,1628905514.591 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC1017611C0000005D00000400260000000000000000151D80030C5669C08C79985BACBB7B005AB4E8BF65FBB6D7646DD093113F9B5316D9A7086A00*46

2021-08-14T01:45:14.986Z,1628905514.986 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T01:45:14.986Z,1628905514.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:45:15.472Z,1628905515.472 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T01:45:15.472Z,1628905515.472 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-14T01:45:16.682Z,1628905516.682 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T01:45:16.683Z,1628905516.683 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T01:45:16.843Z,1628905516.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:17.087Z,1628905517.087 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,014514.684927,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57

2021-08-14T01:45:17.087Z,1628905517.087 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,014514.684927,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57

2021-08-14T01:45:18.718Z,1628905518.718 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T01:45:18.718Z,1628905518.718 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T003940/Courier0028.lzma.parts
2021-08-14T01:45:18.719Z,1628905518.719 [Micromodem](INFO): Packets left to send: 0
2021-08-14T01:45:19.110Z,1628905519.110 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814014517.678659,06,9118,39,0101,0150,82,03,03,00,03,1,010,001,0,4,1,0,150,13.2,3.96,05,-0.96,-01,-0.90,50,14500,4000*75

2021-08-14T01:45:19.110Z,1628905519.110 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814014517.678659,06,9118,39,0101,0150,82,03,03,00,03,1,010,001,0,4,1,0,150,13.2,3.96,05,-0.96,-01,-0.90,50,14500,4000*75

2021-08-14T01:45:19.318Z,1628905519.318 [Micromodem](INFO): Outgoing frame #1, 60 bytes: CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800
2021-08-14T01:45:19.518Z,1628905519.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:20.437Z,1628905520.437 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.245893
2021-08-14T01:45:22.099Z,1628905522.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:22.488Z,1628905522.488 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:45:22.488Z,1628905522.488 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:45:22.488Z,1628905522.488 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:45:22.489Z,1628905522.489 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:45:22.845Z,1628905522.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,00ADF,189,80,80,98,FF
2021-08-14T01:45:22.845Z,1628905522.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:45:22.845Z,1628905522.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:45:24.924Z,1628905524.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:26.115Z,1628905526.115 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:45:26.548Z,1628905526.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:45:26.560Z,1628905526.560 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:45:26.917Z,1628905526.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B2,000,00A4F,189,80,80,A4,FF
2021-08-14T01:45:26.918Z,1628905526.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:45:26.922Z,1628905526.922 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:45:27.370Z,1628905527.370 [Micromodem](INFO): Nmea in: $CADRQ,014526,1,10,0,64,1*72

2021-08-14T01:45:27.370Z,1628905527.370 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800*4C

2021-08-14T01:45:27.473Z,1628905527.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.839996 m, bearing: 188.511691 deg, deltaT: 16.015351 s, approachRate: -0.539482 m/s, LOS rate: -0.316912 deg/s, posRepo size: 4
2021-08-14T01:45:27.475Z,1628905527.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.839996 m,
      bearing: 188.511691 deg,
      approachRate: -0.539482 m/s,
      LOS rate: -0.316912 deg/s,
      cmd update: -0.950736 deg/s,
      cmd heading: 235.577231 deg,
      new cmd heading: 235.898869 deg.

2021-08-14T01:45:27.769Z,1628905527.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014526.19*52

2021-08-14T01:45:27.769Z,1628905527.769 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,014526.19*52

2021-08-14T01:45:28.961Z,1628905528.961 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T01:45:29.370Z,1628905529.370 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T01:45:29.802Z,1628905529.802 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T01:45:29.842Z,1628905529.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:30.153Z,1628905530.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:45:30.153Z,1628905530.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:45:30.153Z,1628905530.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:45:30.154Z,1628905530.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:45:30.167Z,1628905530.167 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,014527.464802,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5D

2021-08-14T01:45:30.574Z,1628905530.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B2,000,00A4F,189,80,80,A4,FF
2021-08-14T01:45:30.574Z,1628905530.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:45:30.574Z,1628905530.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:45:30.575Z,1628905530.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:45:30.977Z,1628905530.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:45:31.835Z,1628905531.835 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014530.65*5E

2021-08-14T01:45:32.183Z,1628905532.183 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,397,000,02662,189,80,80,BB,FF
2021-08-14T01:45:32.184Z,1628905532.184 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:45:32.717Z,1628905532.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 552.059998 m, bearing: 192.164312 deg, deltaT: 5.419375 s, approachRate: 79.570061 m/s, LOS rate: 0.673993 deg/s, posRepo size: 4
2021-08-14T01:45:32.719Z,1628905532.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 552.059998 m,
      bearing: 192.164312 deg,
      approachRate: 79.570061 m/s,
      LOS rate: 0.673993 deg/s,
      cmd update: 2.021979 deg/s,
      cmd heading: 230.420953 deg,
      new cmd heading: 230.134361 deg.

2021-08-14T01:45:35.137Z,1628905535.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:35.487Z,1628905535.487 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:45:35.487Z,1628905535.487 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:45:35.487Z,1628905535.487 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:45:35.488Z,1628905535.488 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:45:35.881Z,1628905535.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
397,000,02662,189,80,80,BB,FF
2021-08-14T01:45:35.881Z,1628905535.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:45:35.881Z,1628905535.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:45:35.883Z,1628905535.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:45:36.307Z,1628905536.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:45:36.693Z,1628905536.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,388,000,00A04,189,80,80,B6,FF
2021-08-14T01:45:36.695Z,1628905536.695 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:45:37.153Z,1628905537.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014535.96*57

2021-08-14T01:45:37.175Z,1628905537.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.340004 m, bearing: 192.135025 deg, deltaT: 4.418145 s, approachRate: -98.620575 m/s, LOS rate: -0.006629 deg/s, posRepo size: 4
2021-08-14T01:45:37.178Z,1628905537.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.340004 m,
      bearing: 192.135025 deg,
      approachRate: -98.620575 m/s,
      LOS rate: -0.006629 deg/s,
      cmd update: -0.019887 deg/s,
      cmd heading: 239.299274 deg,
      new cmd heading: 240.053467 deg.

2021-08-14T01:45:39.591Z,1628905539.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:39.973Z,1628905539.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:45:39.973Z,1628905539.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:45:39.973Z,1628905539.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:45:39.974Z,1628905539.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:45:40.385Z,1628905540.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
388,000,00A04,189,80,80,B6,FF
2021-08-14T01:45:40.385Z,1628905540.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:45:40.385Z,1628905540.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:45:40.387Z,1628905540.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:45:40.796Z,1628905540.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:45:41.209Z,1628905541.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,465,000,009E2,189,80,80,BA,FF
2021-08-14T01:45:41.210Z,1628905541.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:45:41.629Z,1628905541.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014540.46*58

2021-08-14T01:45:41.651Z,1628905541.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.300003 m, bearing: 186.046799 deg, deltaT: 4.396568 s, approachRate: -0.463998 m/s, LOS rate: -1.384768 deg/s, posRepo size: 4
2021-08-14T01:45:41.654Z,1628905541.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.300003 m,
      bearing: 186.046799 deg,
      approachRate: -0.463998 m/s,
      LOS rate: -1.384768 deg/s,
      cmd update: -4.154303 deg/s,
      cmd heading: 239.211298 deg,
      new cmd heading: 239.202845 deg.

2021-08-14T01:45:44.051Z,1628905544.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:44.440Z,1628905544.440 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:45:44.441Z,1628905544.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:45:44.442Z,1628905544.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:45:44.443Z,1628905544.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:45:44.825Z,1628905544.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
465,000,009E2,189,80,80,BA,FF
2021-08-14T01:45:44.825Z,1628905544.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:45:44.825Z,1628905544.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:45:44.827Z,1628905544.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:45:45.237Z,1628905545.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:45:45.645Z,1628905545.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,41A,000,009C3,18A,80,80,B6,FF
2021-08-14T01:45:45.646Z,1628905545.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:45:46.077Z,1628905546.077 [Micromodem](INFO): Nmea in: $SNTTA,0.080171,,,,014544.90*46

2021-08-14T01:45:46.102Z,1628905546.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.440002 m, bearing: 188.189443 deg, deltaT: 4.436105 s, approachRate: -0.419287 m/s, LOS rate: 0.483001 deg/s, posRepo size: 4
2021-08-14T01:45:46.104Z,1628905546.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.440002 m,
      bearing: 188.189443 deg,
      approachRate: -0.419287 m/s,
      LOS rate: 0.483001 deg/s,
      cmd update: 1.449004 deg/s,
      cmd heading: 220.782410 deg,
      new cmd heading: 218.954682 deg.

2021-08-14T01:45:48.569Z,1628905548.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:48.865Z,1628905548.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:45:48.865Z,1628905548.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:45:48.865Z,1628905548.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:45:48.866Z,1628905548.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:45:49.269Z,1628905549.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
41A,000,009C3,18A,80,80,B6,FF
2021-08-14T01:45:49.269Z,1628905549.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:45:49.270Z,1628905549.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:45:49.271Z,1628905549.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:45:49.677Z,1628905549.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:45:50.081Z,1628905550.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CF,000,009A8,189,80,80,93,FF
2021-08-14T01:45:50.082Z,1628905550.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:45:50.541Z,1628905550.541 [Micromodem](INFO): Nmea in: $SNTTA,0.085617,,,,014549.34*47

2021-08-14T01:45:50.612Z,1628905550.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.820000 m, bearing: 194.378209 deg, deltaT: 4.475003 s, approachRate: -0.362012 m/s, LOS rate: 1.382964 deg/s, posRepo size: 4
2021-08-14T01:45:50.614Z,1628905550.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.820000 m,
      bearing: 194.378209 deg,
      approachRate: -0.362012 m/s,
      LOS rate: 1.382964 deg/s,
      cmd update: 4.148891 deg/s,
      cmd heading: 227.254815 deg,
      new cmd heading: 227.948176 deg.

2021-08-14T01:45:53.042Z,1628905553.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:53.373Z,1628905553.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:45:53.373Z,1628905553.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:45:53.373Z,1628905553.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:45:53.374Z,1628905553.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:45:53.804Z,1628905553.804 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CF,000,009A8,189,80,80,93,FF
2021-08-14T01:45:53.804Z,1628905553.804 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:45:53.805Z,1628905553.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:45:53.806Z,1628905553.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:45:54.289Z,1628905554.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:45:54.695Z,1628905554.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CD,000,0097C,189,80,80,B6,FF
2021-08-14T01:45:54.695Z,1628905554.695 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:45:55.119Z,1628905555.119 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014553.88*58

2021-08-14T01:45:55.176Z,1628905555.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.180008 m, bearing: 184.450843 deg, deltaT: 4.678559 s, approachRate: -0.564275 m/s, LOS rate: -2.121885 deg/s, posRepo size: 4
2021-08-14T01:45:55.178Z,1628905555.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.180008 m,
      bearing: 184.450843 deg,
      approachRate: -0.564275 m/s,
      LOS rate: -2.121885 deg/s,
      cmd update: -6.365656 deg/s,
      cmd heading: 246.671308 deg,
      new cmd heading: 248.179650 deg.

2021-08-14T01:45:57.582Z,1628905557.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:45:57.921Z,1628905557.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:45:57.921Z,1628905557.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:45:57.921Z,1628905557.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:45:57.922Z,1628905557.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:45:58.326Z,1628905558.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CD,000,0097C,189,80,80,B6,FF
2021-08-14T01:45:58.326Z,1628905558.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:45:58.326Z,1628905558.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:45:58.329Z,1628905558.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:45:58.761Z,1628905558.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:45:59.141Z,1628905559.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0095D,189,80,80,78,FF
2021-08-14T01:45:59.142Z,1628905559.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:45:59.586Z,1628905559.586 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014558.40*57

2021-08-14T01:45:59.620Z,1628905559.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.320007 m, bearing: 182.980700 deg, deltaT: 4.427755 s, approachRate: -0.420078 m/s, LOS rate: -0.332029 deg/s, posRepo size: 4
2021-08-14T01:45:59.622Z,1628905559.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.320007 m,
      bearing: 182.980700 deg,
      approachRate: -0.420078 m/s,
      LOS rate: -0.332029 deg/s,
      cmd update: -0.996087 deg/s,
      cmd heading: 218.467767 deg,
      new cmd heading: 216.047455 deg.

2021-08-14T01:46:02.077Z,1628905562.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:46:02.377Z,1628905562.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:46:02.377Z,1628905562.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:46:02.377Z,1628905562.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:46:02.378Z,1628905562.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:46:02.805Z,1628905562.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0095D,189,80,80,78,FF
2021-08-14T01:46:02.805Z,1628905562.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:46:02.805Z,1628905562.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:46:02.807Z,1628905562.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:46:03.309Z,1628905563.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:46:03.714Z,1628905563.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00952,189,80,80,87,FF
2021-08-14T01:46:03.715Z,1628905563.715 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:46:04.137Z,1628905564.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014602.88*5F

2021-08-14T01:46:04.343Z,1628905564.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.660004 m, bearing: 174.389906 deg, deltaT: 4.577347 s, approachRate: -0.144189 m/s, LOS rate: -1.876806 deg/s, posRepo size: 4
2021-08-14T01:46:04.346Z,1628905564.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.660004 m,
      bearing: 174.389906 deg,
      approachRate: -0.144189 m/s,
      LOS rate: -1.876806 deg/s,
      cmd update: -5.630419 deg/s,
      cmd heading: 213.914351 deg,
      new cmd heading: 213.385301 deg.

2021-08-14T01:46:06.390Z,1628905566.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:46:06.584Z,1628905566.584 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:46:06.585Z,1628905566.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:46:06.585Z,1628905566.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:46:06.586Z,1628905566.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:46:06.981Z,1628905566.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00952,189,80,80,87,FF
2021-08-14T01:46:06.982Z,1628905566.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:46:06.982Z,1628905566.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:46:06.984Z,1628905566.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:46:07.384Z,1628905567.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:46:07.798Z,1628905567.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2ED,000,00930,189,80,80,BC,FF
2021-08-14T01:46:07.798Z,1628905567.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:46:08.229Z,1628905568.229 [Micromodem](INFO): Nmea in: $SNTTA,0.071276,,,,014607.06*47

2021-08-14T01:46:08.255Z,1628905568.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.620003 m, bearing: 187.225594 deg, deltaT: 4.003850 s, approachRate: -0.509510 m/s, LOS rate: 3.205836 deg/s, posRepo size: 4
2021-08-14T01:46:08.258Z,1628905568.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.620003 m,
      bearing: 187.225594 deg,
      approachRate: -0.509510 m/s,
      LOS rate: 3.205836 deg/s,
      cmd update: 9.617509 deg/s,
      cmd heading: 191.315630 deg,
      new cmd heading: 188.889624 deg.

2021-08-14T01:46:11.579Z,1628905571.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:46:11.709Z,1628905571.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:46:11.709Z,1628905571.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:46:11.709Z,1628905571.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:46:11.710Z,1628905571.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:46:12.109Z,1628905572.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2ED,000,00930,189,80,80,BC,FF
2021-08-14T01:46:12.109Z,1628905572.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:46:12.109Z,1628905572.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:46:12.111Z,1628905572.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:46:12.532Z,1628905572.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:46:12.921Z,1628905572.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C5,000,008FE,186,80,80,A5,FF
2021-08-14T01:46:12.922Z,1628905572.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:46:13.369Z,1628905573.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014612.18*57

2021-08-14T01:46:13.574Z,1628905573.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.619995 m, bearing: 186.244779 deg, deltaT: 5.158635 s, approachRate: -0.581551 m/s, LOS rate: -0.190131 deg/s, posRepo size: 4
2021-08-14T01:46:13.577Z,1628905573.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.619995 m,
      bearing: 186.244779 deg,
      approachRate: -0.581551 m/s,
      LOS rate: -0.190131 deg/s,
      cmd update: -0.570392 deg/s,
      cmd heading: 240.776537 deg,
      new cmd heading: 246.596775 deg.

2021-08-14T01:46:15.816Z,1628905575.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:46:16.161Z,1628905576.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:46:16.161Z,1628905576.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:46:16.161Z,1628905576.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:46:16.162Z,1628905576.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:46:16.570Z,1628905576.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C5,000,008FE,186,80,80,A5,FF
2021-08-14T01:46:16.570Z,1628905576.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:46:16.570Z,1628905576.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:46:16.572Z,1628905576.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:46:16.973Z,1628905576.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:46:17.385Z,1628905577.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B5,000,008D6,189,80,80,A0,FF
2021-08-14T01:46:17.386Z,1628905577.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:46:17.821Z,1628905577.821 [Micromodem](INFO): Nmea in: $SNTTA,0.092595,,,,014616.65*45

2021-08-14T01:46:18.028Z,1628905578.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.220001 m, bearing: 179.524556 deg, deltaT: 4.435936 s, approachRate: -0.541034 m/s, LOS rate: -1.514950 deg/s, posRepo size: 4
2021-08-14T01:46:18.030Z,1628905578.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.220001 m,
      bearing: 179.524556 deg,
      approachRate: -0.541034 m/s,
      LOS rate: -1.514950 deg/s,
      cmd update: -4.544851 deg/s,
      cmd heading: 238.237034 deg,
      new cmd heading: 237.890143 deg.

2021-08-14T01:46:20.026Z,1628905580.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:46:20.224Z,1628905580.224 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:46:20.224Z,1628905580.224 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:46:20.224Z,1628905580.224 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:46:20.225Z,1628905580.225 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:46:20.613Z,1628905580.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B5,000,008D6,189,80,80,A0,FF
2021-08-14T01:46:20.613Z,1628905580.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:46:20.613Z,1628905580.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:46:20.615Z,1628905580.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:46:21.025Z,1628905581.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:46:21.417Z,1628905581.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,40A,000,008B3,189,80,80,9A,FF
2021-08-14T01:46:21.418Z,1628905581.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:46:21.875Z,1628905581.875 [Micromodem](INFO): Nmea in: $SNTTA,0.087656,,,,014620.69*44

2021-08-14T01:46:21.930Z,1628905581.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.120003 m, bearing: 177.682932 deg, deltaT: 4.051746 s, approachRate: -0.518295 m/s, LOS rate: -0.454526 deg/s, posRepo size: 4
2021-08-14T01:46:21.936Z,1628905581.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.120003 m,
      bearing: 177.682932 deg,
      approachRate: -0.518295 m/s,
      LOS rate: -0.454526 deg/s,
      cmd update: -1.363578 deg/s,
      cmd heading: 219.840703 deg,
      new cmd heading: 217.738300 deg.

2021-08-14T01:46:24.541Z,1628905584.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:46:24.661Z,1628905584.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:46:24.661Z,1628905584.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:46:24.661Z,1628905584.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:46:24.662Z,1628905584.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:46:24.667Z,1628905584.667 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T01:46:25.057Z,1628905585.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
40A,000,008B3,189,80,80,9A,FF
2021-08-14T01:46:25.057Z,1628905585.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:46:25.057Z,1628905585.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:46:25.059Z,1628905585.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:46:25.464Z,1628905585.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:46:25.642Z,1628905585.642 [Micromodem](INFO): Outgoing frame #1, 60 bytes: CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800
2021-08-14T01:46:25.643Z,1628905585.643 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:46:25.937Z,1628905585.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,455,000,00896,189,80,80,A8,FF
2021-08-14T01:46:25.937Z,1628905585.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:46:25.940Z,1628905585.940 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:46:26.355Z,1628905586.355 [Micromodem](INFO): Nmea in: $CADRQ,014625,1,10,0,64,1*72

2021-08-14T01:46:26.356Z,1628905586.356 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800*4C

2021-08-14T01:46:26.703Z,1628905586.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.380005 m, bearing: 176.381221 deg, deltaT: 4.552802 s, approachRate: -0.382182 m/s, LOS rate: -0.285914 deg/s, posRepo size: 4
2021-08-14T01:46:26.705Z,1628905586.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.380005 m,
      bearing: 176.381221 deg,
      approachRate: -0.382182 m/s,
      LOS rate: -0.285914 deg/s,
      cmd update: -0.857743 deg/s,
      cmd heading: 213.632704 deg,
      new cmd heading: 212.701706 deg.

2021-08-14T01:46:26.945Z,1628905586.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014625.13*58

2021-08-14T01:46:26.946Z,1628905586.946 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,014625.13*58

2021-08-14T01:46:28.129Z,1628905588.129 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T01:46:28.534Z,1628905588.534 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T01:46:28.592Z,1628905588.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:46:28.929Z,1628905588.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:46:28.929Z,1628905588.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:46:28.930Z,1628905588.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:46:28.931Z,1628905588.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:46:28.936Z,1628905588.936 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T01:46:29.342Z,1628905589.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
455,000,00896,189,80,80,A8,FF
2021-08-14T01:46:29.342Z,1628905589.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:46:29.342Z,1628905589.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:46:29.346Z,1628905589.346 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,014626.450717,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*53

2021-08-14T01:46:29.347Z,1628905589.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:46:29.762Z,1628905589.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:46:30.566Z,1628905590.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014629.42*50

2021-08-14T01:46:30.946Z,1628905590.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,364,000,0320C,18A,80,80,7D,FF
2021-08-14T01:46:30.946Z,1628905590.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:46:31.400Z,1628905591.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 731.220032 m, bearing: 178.385567 deg, deltaT: 5.137029 s, approachRate: 123.970497 m/s, LOS rate: 0.390176 deg/s, posRepo size: 4
2021-08-14T01:46:31.403Z,1628905591.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 731.220032 m,
      bearing: 178.385567 deg,
      approachRate: 123.970497 m/s,
      LOS rate: 0.390176 deg/s,
      cmd update: 1.170529 deg/s,
      cmd heading: 209.223146 deg,
      new cmd heading: 209.018320 deg.

2021-08-14T01:46:33.845Z,1628905593.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:46:34.185Z,1628905594.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:46:34.185Z,1628905594.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:46:34.185Z,1628905594.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:46:34.186Z,1628905594.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:46:34.581Z,1628905594.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
364,000,0320C,18A,80,80,7D,FF
2021-08-14T01:46:34.581Z,1628905594.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:46:34.582Z,1628905594.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:46:34.583Z,1628905594.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:46:35.029Z,1628905595.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:46:35.413Z,1628905595.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31E,000,0084F,189,80,80,A1,FF
2021-08-14T01:46:35.413Z,1628905595.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:46:35.837Z,1628905595.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014634.66*5A

2021-08-14T01:46:35.863Z,1628905595.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.119995 m, bearing: 178.004456 deg, deltaT: 4.269642 s, approachRate: -150.153107 m/s, LOS rate: -0.089261 deg/s, posRepo size: 4
2021-08-14T01:46:35.885Z,1628905595.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.119995 m,
      bearing: 178.004456 deg,
      approachRate: -150.153107 m/s,
      LOS rate: -0.089261 deg/s,
      cmd update: -0.267782 deg/s,
      cmd heading: 214.221130 deg,
      new cmd heading: 214.726783 deg.

2021-08-14T01:46:38.245Z,1628905598.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:46:38.621Z,1628905598.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:46:38.621Z,1628905598.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:46:38.621Z,1628905598.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:46:38.622Z,1628905598.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:46:39.025Z,1628905599.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31E,000,0084F,189,80,80,A1,FF
2021-08-14T01:46:39.025Z,1628905599.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:46:39.025Z,1628905599.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:46:39.027Z,1628905599.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:46:39.469Z,1628905599.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:46:39.905Z,1628905599.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A2,000,0082A,188,80,80,96,FF
2021-08-14T01:46:39.906Z,1628905599.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:46:40.326Z,1628905600.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014639.11*57

2021-08-14T01:46:40.383Z,1628905600.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.900002 m, bearing: 173.278593 deg, deltaT: 4.501541 s, approachRate: -0.493163 m/s, LOS rate: -1.049832 deg/s, posRepo size: 4
2021-08-14T01:46:40.386Z,1628905600.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.900002 m,
      bearing: 173.278593 deg,
      approachRate: -0.493163 m/s,
      LOS rate: -1.049832 deg/s,
      cmd update: -3.149497 deg/s,
      cmd heading: 213.015698 deg,
      new cmd heading: 212.895227 deg.

2021-08-14T01:46:42.842Z,1628905602.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:46:43.133Z,1628905603.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:46:43.133Z,1628905603.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:46:43.133Z,1628905603.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:46:43.134Z,1628905603.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:46:43.533Z,1628905603.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A2,000,0082A,188,80,80,96,FF
2021-08-14T01:46:43.533Z,1628905603.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:46:43.533Z,1628905603.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:46:43.535Z,1628905603.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:46:44.073Z,1628905604.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:46:44.525Z,1628905604.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,361,000,00801,189,80,80,AF,FF
2021-08-14T01:46:44.526Z,1628905604.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:46:44.897Z,1628905604.897 [Micromodem](INFO): Nmea in: $SNTTA,0.488746,,,,014643.61*42

2021-08-14T01:46:44.958Z,1628905604.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.440002 m, bearing: 174.988176 deg, deltaT: 4.697548 s, approachRate: -0.523677 m/s, LOS rate: 0.363931 deg/s, posRepo size: 4
2021-08-14T01:46:44.961Z,1628905604.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.440002 m,
      bearing: 174.988176 deg,
      approachRate: -0.523677 m/s,
      LOS rate: 0.363931 deg/s,
      cmd update: 1.091793 deg/s,
      cmd heading: 198.220714 deg,
      new cmd heading: 197.186164 deg.

2021-08-14T01:46:47.367Z,1628905607.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:46:47.754Z,1628905607.754 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:46:47.754Z,1628905607.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:46:47.754Z,1628905607.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:46:47.755Z,1628905607.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:46:48.129Z,1628905608.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
361,000,00801,189,80,80,AF,FF
2021-08-14T01:46:48.129Z,1628905608.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:46:48.129Z,1628905608.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:46:48.131Z,1628905608.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:46:48.549Z,1628905608.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:46:48.937Z,1628905608.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,007DD,189,80,80,90,FF
2021-08-14T01:46:48.937Z,1628905608.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:46:49.397Z,1628905609.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014648.21*52

2021-08-14T01:46:49.444Z,1628905609.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.279999 m, bearing: 175.204160 deg, deltaT: 4.384782 s, approachRate: -0.492614 m/s, LOS rate: 0.049258 deg/s, posRepo size: 4
2021-08-14T01:46:49.446Z,1628905609.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.279999 m,
      bearing: 175.204160 deg,
      approachRate: -0.492614 m/s,
      LOS rate: 0.049258 deg/s,
      cmd update: 0.147773 deg/s,
      cmd heading: 203.003603 deg,
      new cmd heading: 203.472348 deg.

2021-08-14T01:46:51.859Z,1628905611.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:46:52.207Z,1628905612.207 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:46:52.207Z,1628905612.207 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:46:52.207Z,1628905612.207 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:46:52.208Z,1628905612.208 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:46:52.693Z,1628905612.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,007DD,189,80,80,90,FF
2021-08-14T01:46:52.693Z,1628905612.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:46:52.693Z,1628905612.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:46:52.695Z,1628905612.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:46:53.089Z,1628905613.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:46:53.493Z,1628905613.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,007B3,189,80,80,A1,FF
2021-08-14T01:46:53.494Z,1628905613.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:46:53.917Z,1628905613.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014652.77*5A

2021-08-14T01:46:53.942Z,1628905613.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.760002 m, bearing: 172.237727 deg, deltaT: 4.544108 s, approachRate: -0.554564 m/s, LOS rate: -0.652809 deg/s, posRepo size: 4
2021-08-14T01:46:53.965Z,1628905613.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.760002 m,
      bearing: 172.237727 deg,
      approachRate: -0.554564 m/s,
      LOS rate: -0.652809 deg/s,
      cmd update: -1.958426 deg/s,
      cmd heading: 203.675681 deg,
      new cmd heading: 203.732387 deg.

2021-08-14T01:46:56.630Z,1628905616.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:46:56.821Z,1628905616.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:46:56.821Z,1628905616.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:46:56.821Z,1628905616.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:46:56.822Z,1628905616.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:46:57.213Z,1628905617.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,007B3,189,80,80,A1,FF
2021-08-14T01:46:57.213Z,1628905617.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:46:57.213Z,1628905617.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:46:57.215Z,1628905617.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:46:57.616Z,1628905617.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:46:58.029Z,1628905618.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C2,000,00789,189,80,80,A6,FF
2021-08-14T01:46:58.029Z,1628905618.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:46:58.476Z,1628905618.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014657.29*54

2021-08-14T01:46:58.748Z,1628905618.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.240005 m, bearing: 172.976890 deg, deltaT: 4.528258 s, approachRate: -0.556505 m/s, LOS rate: 0.163233 deg/s, posRepo size: 4
2021-08-14T01:46:58.758Z,1628905618.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.240005 m,
      bearing: 172.976890 deg,
      approachRate: -0.556505 m/s,
      LOS rate: 0.163233 deg/s,
      cmd update: 0.489700 deg/s,
      cmd heading: 194.807653 deg,
      new cmd heading: 193.537296 deg.

2021-08-14T01:47:00.610Z,1628905620.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:00.965Z,1628905620.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:47:00.965Z,1628905620.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:47:00.965Z,1628905620.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:47:00.966Z,1628905620.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:47:01.389Z,1628905621.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C2,000,00789,189,80,80,A6,FF
2021-08-14T01:47:01.389Z,1628905621.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:47:01.389Z,1628905621.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:47:01.391Z,1628905621.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:47:01.796Z,1628905621.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:47:02.182Z,1628905622.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,00760,189,80,80,86,FF
2021-08-14T01:47:02.182Z,1628905622.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:47:02.609Z,1628905622.609 [Micromodem](INFO): Nmea in: $SNTTA,0.070590,,,,014701.47*4B

2021-08-14T01:47:02.886Z,1628905622.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.780006 m, bearing: 168.699334 deg, deltaT: 4.124489 s, approachRate: -0.596437 m/s, LOS rate: -1.037112 deg/s, posRepo size: 4
2021-08-14T01:47:02.888Z,1628905622.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.780006 m,
      bearing: 168.699334 deg,
      approachRate: -0.596437 m/s,
      LOS rate: -1.037112 deg/s,
      cmd update: -3.111336 deg/s,
      cmd heading: 196.827488 deg,
      new cmd heading: 197.157653 deg.

2021-08-14T01:47:04.933Z,1628905624.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:05.100Z,1628905625.100 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:47:05.100Z,1628905625.100 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:47:05.101Z,1628905625.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:47:05.101Z,1628905625.101 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:47:05.494Z,1628905625.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,00760,189,80,80,86,FF
2021-08-14T01:47:05.494Z,1628905625.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:47:05.494Z,1628905625.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:47:05.495Z,1628905625.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:47:05.892Z,1628905625.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:47:06.302Z,1628905626.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,0036B,189,80,80,7E,FF
2021-08-14T01:47:06.302Z,1628905626.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:47:06.756Z,1628905626.756 [Micromodem](INFO): Nmea in: $SNTTA,0.176303,,,,014705.57*45

2021-08-14T01:47:06.827Z,1628905626.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 169.137832 deg, deltaT: 4.148619 s, approachRate: -14.650660 m/s, LOS rate: 0.105697 deg/s, posRepo size: 4
2021-08-14T01:47:06.827Z,1628905626.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 15.00 m.
2021-08-14T01:47:06.830Z,1628905626.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 169.137832 deg,
      approachRate: -14.650660 m/s,
      LOS rate: 0.105697 deg/s,
      cmd update: 0.317092 deg/s,
      cmd heading: 184.044177 deg,
      new cmd heading: 182.467943 deg.

2021-08-14T01:47:07.146Z,1628905627.146 [PowerOnly](INFO): Powering up loadControl
2021-08-14T01:47:07.205Z,1628905627.205 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:47:07.205Z,1628905627.205 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:47:07.205Z,1628905627.205 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:47:07.206Z,1628905627.206 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:47:07.206Z,1628905627.206 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:47:07.206Z,1628905627.206 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:47:07.577Z,1628905627.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:47:07.577Z,1628905627.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:47:07.577Z,1628905627.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:47:07.578Z,1628905627.578 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:47:09.350Z,1628905629.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:09.548Z,1628905629.548 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:47:09.548Z,1628905629.548 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:47:09.549Z,1628905629.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:47:09.549Z,1628905629.549 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:47:09.933Z,1628905629.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,0036B,189,80,80,7E,FF
2021-08-14T01:47:09.933Z,1628905629.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:47:09.934Z,1628905629.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:47:09.935Z,1628905629.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:47:10.343Z,1628905630.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:47:10.756Z,1628905630.756 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16C,000,00707,185,80,80,55,FF
2021-08-14T01:47:10.757Z,1628905630.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:47:10.843Z,1628905630.843 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:47:11.186Z,1628905631.186 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014710.01*5C

2021-08-14T01:47:11.416Z,1628905631.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.440002 m, bearing: 175.121911 deg, deltaT: 4.480728 s, approachRate: 12.372990 m/s, LOS rate: 1.335515 deg/s, posRepo size: 4
2021-08-14T01:47:11.418Z,1628905631.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.440002 m,
      bearing: 175.121911 deg,
      approachRate: 12.372990 m/s,
      LOS rate: 1.335515 deg/s,
      cmd update: 4.006545 deg/s,
      cmd heading: 185.477459 deg,
      new cmd heading: 185.660061 deg.

2021-08-14T01:47:11.590Z,1628905631.590 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:47:11.590Z,1628905631.590 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:47:11.590Z,1628905631.590 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:47:11.591Z,1628905631.591 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:47:11.591Z,1628905631.591 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:47:11.591Z,1628905631.591 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:47:12.005Z,1628905632.005 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:47:12.006Z,1628905632.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:47:12.006Z,1628905632.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:47:12.006Z,1628905632.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:47:13.614Z,1628905633.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:13.989Z,1628905633.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:47:13.989Z,1628905633.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:47:13.989Z,1628905633.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:47:13.990Z,1628905633.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:47:14.405Z,1628905634.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16C,000,00707,185,80,80,55,FF
2021-08-14T01:47:14.405Z,1628905634.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:47:14.405Z,1628905634.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:47:14.407Z,1628905634.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:47:14.800Z,1628905634.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:47:15.625Z,1628905635.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014714.48*55

2021-08-14T01:47:16.500Z,1628905636.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:17.235Z,1628905637.235 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,065C4,189,80,80,53,FF
2021-08-14T01:47:17.235Z,1628905637.235 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:47:17.881Z,1628905637.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1525.620117 m, bearing: 169.710079 deg, deltaT: 6.444382 s, approachRate: 225.806015 m/s, LOS rate: -0.839775 deg/s, posRepo size: 4
2021-08-14T01:47:17.883Z,1628905637.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1525.620117 m,
      bearing: 169.710079 deg,
      approachRate: 225.806015 m/s,
      LOS rate: -0.839775 deg/s,
      cmd update: -2.519326 deg/s,
      cmd heading: 211.234344 deg,
      new cmd heading: 213.685083 deg.

2021-08-14T01:47:20.127Z,1628905640.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:20.525Z,1628905640.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:47:20.525Z,1628905640.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:47:20.525Z,1628905640.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:47:20.526Z,1628905640.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:47:20.887Z,1628905640.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24D,000,065C4,189,80,80,53,FF
2021-08-14T01:47:20.887Z,1628905640.887 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:47:20.887Z,1628905640.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:47:20.889Z,1628905640.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:47:21.310Z,1628905641.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:47:21.689Z,1628905641.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,349,000,006A3,189,80,80,A4,FF
2021-08-14T01:47:21.689Z,1628905641.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:47:22.246Z,1628905642.246 [Micromodem](INFO): Nmea in: $SNTTA,0.048136,,,,014720.96*47

2021-08-14T01:47:22.267Z,1628905642.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.440002 m, bearing: 170.455362 deg, deltaT: 4.709547 s, approachRate: -310.259186 m/s, LOS rate: 0.158249 deg/s, posRepo size: 4
2021-08-14T01:47:22.270Z,1628905642.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.440002 m,
      bearing: 170.455362 deg,
      approachRate: -310.259186 m/s,
      LOS rate: 0.158249 deg/s,
      cmd update: 0.474748 deg/s,
      cmd heading: 199.328286 deg,
      new cmd heading: 198.641831 deg.

2021-08-14T01:47:22.700Z,1628905642.700 [DDM](ERROR): Could not parse latch state
2021-08-14T01:47:23.828Z,1628905643.828 [DDM](ERROR): Could not parse whisker state
2021-08-14T01:47:24.712Z,1628905644.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:25.057Z,1628905645.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:47:25.057Z,1628905645.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:47:25.058Z,1628905645.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:47:25.059Z,1628905645.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:47:25.466Z,1628905645.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
349,000,006A3,189,80,80,A4,FF
2021-08-14T01:47:25.466Z,1628905645.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:47:25.466Z,1628905645.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:47:25.467Z,1628905645.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:47:25.863Z,1628905645.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:47:26.261Z,1628905646.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,365,000,00683,189,80,80,8F,FF
2021-08-14T01:47:26.262Z,1628905646.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:47:26.695Z,1628905646.695 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014725.54*5A

2021-08-14T01:47:26.797Z,1628905646.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.520000 m, bearing: 166.841864 deg, deltaT: 4.284356 s, approachRate: -0.448142 m/s, LOS rate: -0.843417 deg/s, posRepo size: 4
2021-08-14T01:47:26.799Z,1628905646.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.520000 m,
      bearing: 166.841864 deg,
      approachRate: -0.448142 m/s,
      LOS rate: -0.843417 deg/s,
      cmd update: -2.530250 deg/s,
      cmd heading: 201.362276 deg,
      new cmd heading: 201.607964 deg.

2021-08-14T01:47:28.838Z,1628905648.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:29.197Z,1628905649.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:47:29.197Z,1628905649.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:47:29.197Z,1628905649.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:47:29.198Z,1628905649.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:47:29.593Z,1628905649.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
365,000,00683,189,80,80,8F,FF
2021-08-14T01:47:29.593Z,1628905649.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:47:29.593Z,1628905649.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:47:29.595Z,1628905649.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:47:30.023Z,1628905650.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:47:30.405Z,1628905650.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,316,000,00664,189,80,80,79,FF
2021-08-14T01:47:30.406Z,1628905650.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:47:30.933Z,1628905650.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014729.67*56

2021-08-14T01:47:30.934Z,1628905650.934 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T01:47:31.002Z,1628905651.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.660000 m, bearing: 166.199703 deg, deltaT: 4.408551 s, approachRate: -0.421907 m/s, LOS rate: -0.145663 deg/s, posRepo size: 4
2021-08-14T01:47:31.008Z,1628905651.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.660000 m,
      bearing: 166.199703 deg,
      approachRate: -0.421907 m/s,
      LOS rate: -0.145663 deg/s,
      cmd update: -0.436988 deg/s,
      cmd heading: 190.211214 deg,
      new cmd heading: 189.427489 deg.

2021-08-14T01:47:31.508Z,1628905651.508 [Micromodem](INFO): Outgoing frame #1, 60 bytes: CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800
2021-08-14T01:47:31.508Z,1628905651.508 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:47:32.189Z,1628905652.189 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:47:32.585Z,1628905652.585 [Micromodem](INFO): Nmea in: $CADRQ,014731,1,10,0,64,1*76

2021-08-14T01:47:32.585Z,1628905652.585 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800*4C

2021-08-14T01:47:32.978Z,1628905652.978 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T01:47:33.390Z,1628905653.390 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T01:47:33.417Z,1628905653.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:33.795Z,1628905653.795 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:47:33.812Z,1628905653.812 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:47:33.812Z,1628905653.812 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:47:33.813Z,1628905653.813 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:47:34.189Z,1628905654.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
316,000,00664,189,80,80,79,FF
2021-08-14T01:47:34.189Z,1628905654.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:47:34.190Z,1628905654.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:47:34.191Z,1628905654.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:47:34.638Z,1628905654.638 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T01:47:34.638Z,1628905654.638 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T01:47:35.160Z,1628905655.160 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,014732.679530,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*59

2021-08-14T01:47:35.161Z,1628905655.161 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,014732.679530,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*59

2021-08-14T01:47:36.058Z,1628905656.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:38.917Z,1628905658.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:40.136Z,1628905660.136 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.322810
2021-08-14T01:47:41.679Z,1628905661.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:42.049Z,1628905662.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:47:42.049Z,1628905662.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:47:42.049Z,1628905662.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:47:42.050Z,1628905662.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:47:42.483Z,1628905662.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
316,000,00664,189,80,80,79,FF
2021-08-14T01:47:42.483Z,1628905662.483 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:47:42.483Z,1628905662.483 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:47:44.565Z,1628905664.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:45.290Z,1628905665.290 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:47:45.704Z,1628905665.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:47:46.089Z,1628905666.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,005D0,189,80,80,8A,FF
2021-08-14T01:47:46.090Z,1628905666.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:47:46.537Z,1628905666.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014745.36*58

2021-08-14T01:47:46.596Z,1628905666.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.779999 m, bearing: 161.178722 deg, deltaT: 15.470490 s, approachRate: -0.573996 m/s, LOS rate: -0.324552 deg/s, posRepo size: 4
2021-08-14T01:47:46.598Z,1628905666.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.779999 m,
      bearing: 161.178722 deg,
      approachRate: -0.573996 m/s,
      LOS rate: -0.324552 deg/s,
      cmd update: -0.973656 deg/s,
      cmd heading: 183.451923 deg,
      new cmd heading: 183.260671 deg.

2021-08-14T01:47:48.986Z,1628905668.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:49.326Z,1628905669.326 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:47:49.326Z,1628905669.326 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:47:49.326Z,1628905669.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:47:49.327Z,1628905669.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:47:49.793Z,1628905669.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,005D0,189,80,80,8A,FF
2021-08-14T01:47:49.793Z,1628905669.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:47:49.794Z,1628905669.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:47:49.795Z,1628905669.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:47:50.181Z,1628905670.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:47:50.583Z,1628905670.583 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,005A2,186,80,80,53,FF
2021-08-14T01:47:50.583Z,1628905670.583 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:47:51.009Z,1628905671.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014749.87*5E

2021-08-14T01:47:51.055Z,1628905671.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.019997 m, bearing: 165.358224 deg, deltaT: 4.524118 s, approachRate: -0.610064 m/s, LOS rate: 0.923827 deg/s, posRepo size: 4
2021-08-14T01:47:51.061Z,1628905671.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.019997 m,
      bearing: 165.358224 deg,
      approachRate: -0.610064 m/s,
      LOS rate: 0.923827 deg/s,
      cmd update: 2.771481 deg/s,
      cmd heading: 179.047127 deg,
      new cmd heading: 178.680250 deg.

2021-08-14T01:47:53.466Z,1628905673.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:53.821Z,1628905673.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:47:53.821Z,1628905673.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:47:53.822Z,1628905673.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:47:53.822Z,1628905673.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:47:54.221Z,1628905674.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,005A2,186,80,80,53,FF
2021-08-14T01:47:54.221Z,1628905674.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:47:54.221Z,1628905674.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:47:54.223Z,1628905674.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:47:54.625Z,1628905674.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:47:55.021Z,1628905675.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F1,000,00575,187,80,80,9B,FF
2021-08-14T01:47:55.022Z,1628905675.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:47:55.465Z,1628905675.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014754.30*5E

2021-08-14T01:47:55.519Z,1628905675.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.320000 m, bearing: 162.201024 deg, deltaT: 4.403816 s, approachRate: -0.613104 m/s, LOS rate: -0.716924 deg/s, posRepo size: 4
2021-08-14T01:47:55.526Z,1628905675.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.320000 m,
      bearing: 162.201024 deg,
      approachRate: -0.613104 m/s,
      LOS rate: -0.716924 deg/s,
      cmd update: -2.150771 deg/s,
      cmd heading: 191.240046 deg,
      new cmd heading: 192.464711 deg.

2021-08-14T01:47:57.946Z,1628905677.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:47:58.297Z,1628905678.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:47:58.297Z,1628905678.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:47:58.297Z,1628905678.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:47:58.298Z,1628905678.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:47:58.713Z,1628905678.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F1,000,00575,187,80,80,9B,FF
2021-08-14T01:47:58.713Z,1628905678.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:47:58.714Z,1628905678.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:47:58.715Z,1628905678.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:47:59.109Z,1628905679.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:47:59.509Z,1628905679.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,00548,189,80,80,5D,FF
2021-08-14T01:47:59.509Z,1628905679.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:47:59.949Z,1628905679.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014758.79*5F

2021-08-14T01:47:59.996Z,1628905679.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.619995 m, bearing: 159.172368 deg, deltaT: 4.440765 s, approachRate: -0.608004 m/s, LOS rate: -0.682012 deg/s, posRepo size: 4
2021-08-14T01:47:59.998Z,1628905679.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.619995 m,
      bearing: 159.172368 deg,
      approachRate: -0.608004 m/s,
      LOS rate: -0.682012 deg/s,
      cmd update: -2.046037 deg/s,
      cmd heading: 181.670527 deg,
      new cmd heading: 180.661602 deg.

2021-08-14T01:48:02.177Z,1628905682.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:02.549Z,1628905682.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:48:02.549Z,1628905682.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:48:02.549Z,1628905682.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:48:02.550Z,1628905682.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:48:03.009Z,1628905683.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B2,000,00548,189,80,80,5D,FF
2021-08-14T01:48:03.009Z,1628905683.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:48:03.009Z,1628905683.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:48:03.011Z,1628905683.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:48:03.422Z,1628905683.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:48:03.813Z,1628905683.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,0051E,189,80,80,5C,FF
2021-08-14T01:48:03.813Z,1628905683.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:48:04.265Z,1628905684.265 [Micromodem](INFO): Nmea in: $SNTTA,0.042746,,,,014803.09*44

2021-08-14T01:48:04.287Z,1628905684.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.099998 m, bearing: 159.206573 deg, deltaT: 4.353448 s, approachRate: -0.578851 m/s, LOS rate: 0.007857 deg/s, posRepo size: 4
2021-08-14T01:48:04.309Z,1628905684.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.099998 m,
      bearing: 159.206573 deg,
      approachRate: -0.578851 m/s,
      LOS rate: 0.007857 deg/s,
      cmd update: 0.023571 deg/s,
      cmd heading: 172.779454 deg,
      new cmd heading: 171.930643 deg.

2021-08-14T01:48:06.713Z,1628905686.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:07.049Z,1628905687.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:48:07.049Z,1628905687.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:48:07.049Z,1628905687.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:48:07.050Z,1628905687.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:48:07.461Z,1628905687.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,0051E,189,80,80,5C,FF
2021-08-14T01:48:07.461Z,1628905687.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:48:07.461Z,1628905687.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:48:07.462Z,1628905687.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:48:07.853Z,1628905687.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:48:08.261Z,1628905688.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,0080E,185,80,80,70,FF
2021-08-14T01:48:08.262Z,1628905688.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:48:08.693Z,1628905688.693 [Micromodem](INFO): Nmea in: $SNTTA,0.027210,,,,014807.54*4D

2021-08-14T01:48:08.802Z,1628905688.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.220001 m, bearing: 160.534690 deg, deltaT: 4.472014 s, approachRate: 10.089415 m/s, LOS rate: 0.296984 deg/s, posRepo size: 4
2021-08-14T01:48:08.804Z,1628905688.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.220001 m,
      bearing: 160.534690 deg,
      approachRate: 10.089415 m/s,
      LOS rate: 0.296984 deg/s,
      cmd update: 0.890952 deg/s,
      cmd heading: 172.884786 deg,
      new cmd heading: 172.895643 deg.

2021-08-14T01:48:11.100Z,1628905691.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:11.501Z,1628905691.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:48:11.501Z,1628905691.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:48:11.502Z,1628905691.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:48:11.503Z,1628905691.503 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:48:11.893Z,1628905691.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,0080E,185,80,80,70,FF
2021-08-14T01:48:11.893Z,1628905691.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:48:11.893Z,1628905691.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:48:11.895Z,1628905691.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:48:12.317Z,1628905692.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:48:12.700Z,1628905692.700 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,004C9,187,80,80,69,FF
2021-08-14T01:48:12.700Z,1628905692.700 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:48:13.142Z,1628905693.142 [Micromodem](INFO): Nmea in: $SNTTA,0.061052,,,,014811.97*43

2021-08-14T01:48:13.172Z,1628905693.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.999996 m, bearing: 155.264994 deg, deltaT: 4.478833 s, approachRate: -11.212744 m/s, LOS rate: -1.176578 deg/s, posRepo size: 4
2021-08-14T01:48:13.172Z,1628905693.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.00 m.
2021-08-14T01:48:13.175Z,1628905693.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.999996 m,
      bearing: 155.264994 deg,
      approachRate: -11.212744 m/s,
      LOS rate: -1.176578 deg/s,
      cmd update: -3.529734 deg/s,
      cmd heading: 176.881649 deg,
      new cmd heading: 177.188739 deg.

2021-08-14T01:48:13.763Z,1628905693.763 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T01:48:13.763Z,1628905693.763 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:48:13.764Z,1628905693.764 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T01:48:13.765Z,1628905693.765 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T01:48:13.765Z,1628905693.765 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T01:48:13.765Z,1628905693.765 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T01:48:14.045Z,1628905694.045 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T01:48:14.046Z,1628905694.046 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:48:14.046Z,1628905694.046 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T01:48:14.046Z,1628905694.046 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T01:48:15.855Z,1628905695.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:16.005Z,1628905696.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:48:16.005Z,1628905696.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:48:16.005Z,1628905696.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:48:16.006Z,1628905696.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:48:16.410Z,1628905696.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F2,000,004C9,187,80,80,69,FF
2021-08-14T01:48:16.410Z,1628905696.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:48:16.410Z,1628905696.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:48:16.412Z,1628905696.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:48:16.844Z,1628905696.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:48:17.225Z,1628905697.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,00497,186,80,80,64,FF
2021-08-14T01:48:17.226Z,1628905697.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:48:17.275Z,1628905697.275 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:48:17.645Z,1628905697.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014816.49*59

2021-08-14T01:48:17.682Z,1628905697.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 157.707961 deg, deltaT: 4.440687 s, approachRate: -0.675571 m/s, LOS rate: 0.550133 deg/s, posRepo size: 4
2021-08-14T01:48:17.682Z,1628905697.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.00 m.
2021-08-14T01:48:17.685Z,1628905697.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.999996 m,
      bearing: 157.707961 deg,
      approachRate: -0.675571 m/s,
      LOS rate: 0.550133 deg/s,
      cmd update: 1.650398 deg/s,
      cmd heading: 161.195792 deg,
      new cmd heading: 159.745960 deg.

2021-08-14T01:48:20.248Z,1628905700.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:20.473Z,1628905700.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:48:20.473Z,1628905700.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:48:20.474Z,1628905700.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:48:20.475Z,1628905700.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:48:20.849Z,1628905700.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,00497,186,80,80,64,FF
2021-08-14T01:48:20.849Z,1628905700.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:48:20.849Z,1628905700.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:48:20.851Z,1628905700.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:48:21.265Z,1628905701.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:48:21.657Z,1628905701.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FC,000,0046B,186,80,80,58,FF
2021-08-14T01:48:21.658Z,1628905701.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:48:21.699Z,1628905701.699 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:48:22.164Z,1628905702.164 [DDM](ERROR): Could not parse whisker state
2021-08-14T01:48:22.193Z,1628905702.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014820.92*5A

2021-08-14T01:48:22.415Z,1628905702.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.359999 m, bearing: 158.796967 deg, deltaT: 4.424308 s, approachRate: -0.596703 m/s, LOS rate: 0.246141 deg/s, posRepo size: 4
2021-08-14T01:48:22.417Z,1628905702.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.36 m.
2021-08-14T01:48:22.426Z,1628905702.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.359999 m,
      bearing: 158.796967 deg,
      approachRate: -0.596703 m/s,
      LOS rate: 0.246141 deg/s,
      cmd update: 0.738424 deg/s,
      cmd heading: 168.490836 deg,
      new cmd heading: 169.681329 deg.

2021-08-14T01:48:24.243Z,1628905704.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:24.617Z,1628905704.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:48:24.617Z,1628905704.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:48:24.617Z,1628905704.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:48:24.618Z,1628905704.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:48:25.021Z,1628905705.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FC,000,0046B,186,80,80,58,FF
2021-08-14T01:48:25.021Z,1628905705.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:48:25.021Z,1628905705.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:48:25.023Z,1628905705.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:48:25.425Z,1628905705.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:48:25.829Z,1628905705.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,00446,186,80,80,4C,FF
2021-08-14T01:48:25.830Z,1628905705.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:48:25.915Z,1628905705.915 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:48:26.297Z,1628905706.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014825.10*55

2021-08-14T01:48:26.582Z,1628905706.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.140001 m, bearing: 156.756257 deg, deltaT: 4.216044 s, approachRate: -0.526559 m/s, LOS rate: -0.484034 deg/s, posRepo size: 4
2021-08-14T01:48:26.583Z,1628905706.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.14 m.
2021-08-14T01:48:26.583Z,1628905706.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.14 m.
2021-08-14T01:48:26.583Z,1628905706.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T01:48:26.601Z,1628905706.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.140001 m,
      bearing: 156.756257 deg,
      approachRate: -0.526559 m/s,
      LOS rate: -0.484034 deg/s,
      cmd update: -1.452103 deg/s,
      cmd heading: 171.604274 deg,
      new cmd heading: 172.102371 deg.

2021-08-14T01:48:28.701Z,1628905708.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:28.833Z,1628905708.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:48:28.833Z,1628905708.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:48:28.833Z,1628905708.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:48:28.834Z,1628905708.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:48:29.226Z,1628905709.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,00446,186,80,80,4C,FF
2021-08-14T01:48:29.226Z,1628905709.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:48:29.226Z,1628905709.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:48:29.228Z,1628905709.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:48:29.648Z,1628905709.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:48:30.053Z,1628905710.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B1,000,0041D,185,80,80,64,FF
2021-08-14T01:48:30.053Z,1628905710.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:48:30.104Z,1628905710.104 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:48:30.534Z,1628905710.534 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014829.30*5B

2021-08-14T01:48:30.569Z,1628905710.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.679996 m, bearing: 153.563635 deg, deltaT: 4.188977 s, approachRate: -0.587257 m/s, LOS rate: -0.762148 deg/s, posRepo size: 4
2021-08-14T01:48:30.571Z,1628905710.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.679996 m,
      bearing: 153.563635 deg,
      approachRate: -0.587257 m/s,
      LOS rate: -0.762148 deg/s,
      cmd update: -2.286445 deg/s,
      cmd heading: 165.515521 deg,
      new cmd heading: 164.834740 deg.

2021-08-14T01:48:33.077Z,1628905713.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:33.273Z,1628905713.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:48:33.273Z,1628905713.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:48:33.274Z,1628905713.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:48:33.275Z,1628905713.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:48:33.681Z,1628905713.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B1,000,0041D,185,80,80,64,FF
2021-08-14T01:48:33.681Z,1628905713.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:48:33.681Z,1628905713.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:48:33.683Z,1628905713.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:48:34.093Z,1628905714.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:48:34.617Z,1628905714.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,003FB,186,80,80,8E,FF
2021-08-14T01:48:34.617Z,1628905714.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:48:34.702Z,1628905714.702 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:48:34.942Z,1628905714.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014833.76*52

2021-08-14T01:48:35.158Z,1628905715.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 157.442322 deg, deltaT: 4.598452 s, approachRate: -0.443627 m/s, LOS rate: 0.843477 deg/s, posRepo size: 4
2021-08-14T01:48:35.160Z,1628905715.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.639997 m,
      bearing: 157.442322 deg,
      approachRate: -0.443627 m/s,
      LOS rate: 0.843477 deg/s,
      cmd update: 2.530430 deg/s,
      cmd heading: 155.010871 deg,
      new cmd heading: 153.952023 deg.

2021-08-14T01:48:35.760Z,1628905715.760 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:48:36.541Z,1628905716.541 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T01:48:37.178Z,1628905717.178 [Micromodem](INFO): Outgoing frame #1, 60 bytes: CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800
2021-08-14T01:48:37.179Z,1628905717.179 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:48:37.261Z,1628905717.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:37.402Z,1628905717.402 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:48:37.402Z,1628905717.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:48:37.402Z,1628905717.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:48:37.403Z,1628905717.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:48:37.411Z,1628905717.411 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:48:37.801Z,1628905717.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,003FB,186,80,80,8E,FF
2021-08-14T01:48:37.801Z,1628905717.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:48:37.801Z,1628905717.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:48:37.803Z,1628905717.803 [Micromodem](INFO): Nmea in: $CADRQ,014837,1,10,0,64,1*7F

2021-08-14T01:48:37.803Z,1628905717.803 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800*4C

2021-08-14T01:48:38.194Z,1628905718.194 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T01:48:38.194Z,1628905718.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:48:38.604Z,1628905718.604 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T01:48:38.604Z,1628905718.604 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-14T01:48:39.908Z,1628905719.908 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T01:48:39.908Z,1628905719.908 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T01:48:39.983Z,1628905719.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:40.303Z,1628905720.303 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,014837.899178,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5B

2021-08-14T01:48:40.304Z,1628905720.304 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,014837.899178,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5B

2021-08-14T01:48:42.812Z,1628905722.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:43.548Z,1628905723.548 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.144888
2021-08-14T01:48:45.825Z,1628905725.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:45.981Z,1628905725.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:48:45.981Z,1628905725.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:48:45.981Z,1628905725.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:48:45.982Z,1628905725.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:48:46.389Z,1628905726.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,003FB,186,80,80,8E,FF
2021-08-14T01:48:46.389Z,1628905726.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:48:46.389Z,1628905726.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:48:48.500Z,1628905728.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:49.226Z,1628905729.226 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:48:49.640Z,1628905729.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:48:50.037Z,1628905730.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39A,000,00366,189,80,80,91,FF
2021-08-14T01:48:50.037Z,1628905730.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:48:50.106Z,1628905730.106 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:48:50.470Z,1628905730.470 [Micromodem](INFO): Nmea in: $SNTTA,0.022705,,,,014849.35*44

2021-08-14T01:48:50.561Z,1628905730.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.700000 m, bearing: 143.793937 deg, deltaT: 15.403352 s, approachRate: -0.580393 m/s, LOS rate: -0.886066 deg/s, posRepo size: 4
2021-08-14T01:48:50.563Z,1628905730.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.700000 m,
      bearing: 143.793937 deg,
      approachRate: -0.580393 m/s,
      LOS rate: -0.886066 deg/s,
      cmd update: -2.658198 deg/s,
      cmd heading: 193.985615 deg,
      new cmd heading: 195.158075 deg.

2021-08-14T01:48:52.985Z,1628905732.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:53.309Z,1628905733.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:48:53.309Z,1628905733.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:48:53.309Z,1628905733.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:48:53.310Z,1628905733.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:48:53.709Z,1628905733.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39A,000,00366,189,80,80,91,FF
2021-08-14T01:48:53.709Z,1628905733.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:48:53.709Z,1628905733.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:48:53.711Z,1628905733.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:48:54.121Z,1628905734.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:48:54.533Z,1628905734.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00349,189,80,80,96,FF
2021-08-14T01:48:54.533Z,1628905734.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:48:54.626Z,1628905734.626 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:48:54.969Z,1628905734.969 [Micromodem](INFO): Nmea in: $SNTTA,0.081043,,,,014853.79*4B

2021-08-14T01:48:55.023Z,1628905735.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.960001 m, bearing: 137.831059 deg, deltaT: 4.520031 s, approachRate: -0.384953 m/s, LOS rate: -1.319212 deg/s, posRepo size: 4
2021-08-14T01:48:55.026Z,1628905735.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.960001 m,
      bearing: 137.831059 deg,
      approachRate: -0.384953 m/s,
      LOS rate: -1.319212 deg/s,
      cmd update: -3.957635 deg/s,
      cmd heading: 181.966881 deg,
      new cmd heading: 180.890901 deg.

2021-08-14T01:48:57.383Z,1628905737.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:48:57.769Z,1628905737.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:48:57.769Z,1628905737.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:48:57.769Z,1628905737.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:48:57.770Z,1628905737.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:48:58.149Z,1628905738.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00349,189,80,80,96,FF
2021-08-14T01:48:58.149Z,1628905738.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:48:58.149Z,1628905738.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:48:58.151Z,1628905738.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:48:58.561Z,1628905738.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:48:59.057Z,1628905739.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,432,000,00336,189,80,80,91,FF
2021-08-14T01:48:59.057Z,1628905739.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:48:59.110Z,1628905739.110 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:48:59.474Z,1628905739.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014858.23*5F

2021-08-14T01:48:59.521Z,1628905739.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.820001 m, bearing: 133.180916 deg, deltaT: 4.484659 s, approachRate: -0.254200 m/s, LOS rate: -1.036900 deg/s, posRepo size: 4
2021-08-14T01:48:59.523Z,1628905739.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.820001 m,
      bearing: 133.180916 deg,
      approachRate: -0.254200 m/s,
      LOS rate: -1.036900 deg/s,
      cmd update: -3.110700 deg/s,
      cmd heading: 164.234360 deg,
      new cmd heading: 162.568258 deg.

2021-08-14T01:49:01.959Z,1628905741.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:49:02.285Z,1628905742.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:49:02.285Z,1628905742.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:49:02.285Z,1628905742.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:49:02.286Z,1628905742.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:49:02.696Z,1628905742.696 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
432,000,00336,189,80,80,91,FF
2021-08-14T01:49:02.696Z,1628905742.696 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:49:02.696Z,1628905742.696 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:49:02.698Z,1628905742.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:49:03.093Z,1628905743.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:49:03.495Z,1628905743.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,385,000,00331,189,80,80,94,FF
2021-08-14T01:49:03.496Z,1628905743.496 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:49:03.526Z,1628905743.526 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:49:03.921Z,1628905743.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014902.77*50

2021-08-14T01:49:03.967Z,1628905743.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 123.355989 deg, deltaT: 4.416436 s, approachRate: -0.067928 m/s, LOS rate: -2.224628 deg/s, posRepo size: 4
2021-08-14T01:49:03.973Z,1628905743.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 123.355989 deg,
      approachRate: -0.067928 m/s,
      LOS rate: -2.224628 deg/s,
      cmd update: -6.673884 deg/s,
      cmd heading: 150.480341 deg,
      new cmd heading: 149.092060 deg.

2021-08-14T01:49:06.374Z,1628905746.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:49:06.732Z,1628905746.732 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:49:06.733Z,1628905746.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:49:06.733Z,1628905746.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:49:06.735Z,1628905746.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:49:07.134Z,1628905747.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
385,000,00331,189,80,80,94,FF
2021-08-14T01:49:07.134Z,1628905747.134 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:49:07.134Z,1628905747.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:49:07.135Z,1628905747.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:49:07.586Z,1628905747.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:49:07.978Z,1628905747.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33F,000,0030B,189,80,80,A5,FF
2021-08-14T01:49:07.978Z,1628905747.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:49:08.034Z,1628905748.034 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:49:08.407Z,1628905748.407 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014907.21*56

2021-08-14T01:49:08.501Z,1628905748.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.240001 m, bearing: 112.241817 deg, deltaT: 4.507588 s, approachRate: -0.505814 m/s, LOS rate: -2.465659 deg/s, posRepo size: 4
2021-08-14T01:49:08.503Z,1628905748.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.240001 m,
      bearing: 112.241817 deg,
      approachRate: -0.505814 m/s,
      LOS rate: -2.465659 deg/s,
      cmd update: -7.396975 deg/s,
      cmd heading: 120.511873 deg,
      new cmd heading: 117.273291 deg.

2021-08-14T01:49:11.192Z,1628905751.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:49:11.325Z,1628905751.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:49:11.326Z,1628905751.326 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:49:11.326Z,1628905751.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:49:11.327Z,1628905751.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:49:11.752Z,1628905751.752 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33F,000,0030B,189,80,80,A5,FF
2021-08-14T01:49:11.753Z,1628905751.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:49:11.753Z,1628905751.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:49:11.755Z,1628905751.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:49:12.129Z,1628905752.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:49:12.545Z,1628905752.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,002F6,189,80,80,66,FF
2021-08-14T01:49:12.545Z,1628905752.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:49:12.650Z,1628905752.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:49:12.957Z,1628905752.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014911.83*59

2021-08-14T01:49:13.004Z,1628905753.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.979999 m, bearing: 101.349407 deg, deltaT: 4.615384 s, approachRate: -0.273000 m/s, LOS rate: -2.360022 deg/s, posRepo size: 4
2021-08-14T01:49:13.006Z,1628905753.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.979999 m,
      bearing: 101.349407 deg,
      approachRate: -0.273000 m/s,
      LOS rate: -2.360022 deg/s,
      cmd update: -7.080067 deg/s,
      cmd heading: 86.252679 deg,
      new cmd heading: 83.639202 deg.

2021-08-14T01:49:15.394Z,1628905755.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:49:15.793Z,1628905755.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:49:15.794Z,1628905755.794 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:49:15.794Z,1628905755.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:49:15.795Z,1628905755.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:49:16.161Z,1628905756.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,002F6,189,80,80,66,FF
2021-08-14T01:49:16.161Z,1628905756.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:49:16.162Z,1628905756.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:49:16.163Z,1628905756.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:49:16.585Z,1628905756.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:49:16.973Z,1628905756.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,002E7,186,80,80,AD,FF
2021-08-14T01:49:16.974Z,1628905756.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:49:17.074Z,1628905757.074 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:49:17.437Z,1628905757.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014916.24*53

2021-08-14T01:49:17.472Z,1628905757.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 94.321812 deg, deltaT: 4.424534 s, approachRate: -0.203411 m/s, LOS rate: -1.588324 deg/s, posRepo size: 4
2021-08-14T01:49:17.474Z,1628905757.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 94.321812 deg,
      approachRate: -0.203411 m/s,
      LOS rate: -1.588324 deg/s,
      cmd update: -4.764973 deg/s,
      cmd heading: 54.926857 deg,
      new cmd heading: 52.060577 deg.

2021-08-14T01:49:20.018Z,1628905760.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:49:20.205Z,1628905760.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:49:20.205Z,1628905760.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:49:20.205Z,1628905760.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:49:20.206Z,1628905760.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:49:20.618Z,1628905760.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19A,000,002E7,186,80,80,AD,FF
2021-08-14T01:49:20.618Z,1628905760.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:49:20.618Z,1628905760.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:49:20.636Z,1628905760.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:49:21.028Z,1628905761.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:49:21.422Z,1628905761.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,002F5,186,80,80,37,FF
2021-08-14T01:49:21.423Z,1628905761.423 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:49:21.493Z,1628905761.493 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:49:21.839Z,1628905761.839 [Micromodem](INFO): Nmea in: $SNTTA,0.117231,,,,014920.71*4F

2021-08-14T01:49:21.879Z,1628905761.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.919999 m, bearing: 113.512048 deg, deltaT: 4.418849 s, approachRate: 0.190094 m/s, LOS rate: 4.342813 deg/s, posRepo size: 4
2021-08-14T01:49:21.881Z,1628905761.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.919999 m,
      bearing: 113.512048 deg,
      approachRate: 0.190094 m/s,
      LOS rate: 4.342813 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 33.870760 deg,
      new cmd heading: 31.998660 deg.

2021-08-14T01:49:24.546Z,1628905764.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:49:24.690Z,1628905764.690 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:49:24.690Z,1628905764.690 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:49:24.690Z,1628905764.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:49:24.691Z,1628905764.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:49:25.073Z,1628905765.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,002F5,186,80,80,37,FF
2021-08-14T01:49:25.073Z,1628905765.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:49:25.073Z,1628905765.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:49:25.075Z,1628905765.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:49:25.465Z,1628905765.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:49:25.866Z,1628905765.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4F,000,002E6,189,80,80,AE,FF
2021-08-14T01:49:25.866Z,1628905765.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:49:25.931Z,1628905765.931 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:49:26.305Z,1628905766.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014925.15*51

2021-08-14T01:49:26.602Z,1628905766.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.020000 m, bearing: 115.286681 deg, deltaT: 4.437909 s, approachRate: -0.202798 m/s, LOS rate: 0.399881 deg/s, posRepo size: 4
2021-08-14T01:49:26.604Z,1628905766.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.020000 m,
      bearing: 115.286681 deg,
      approachRate: -0.202798 m/s,
      LOS rate: 0.399881 deg/s,
      cmd update: 1.199642 deg/s,
      cmd heading: 87.173262 deg,
      new cmd heading: 95.264202 deg.

2021-08-14T01:49:28.829Z,1628905768.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:49:29.141Z,1628905769.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:49:29.141Z,1628905769.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:49:29.141Z,1628905769.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:49:29.141Z,1628905769.141 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:49:29.533Z,1628905769.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4F,000,002E6,189,80,80,AE,FF
2021-08-14T01:49:29.534Z,1628905769.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:49:29.534Z,1628905769.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:49:29.538Z,1628905769.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:49:29.940Z,1628905769.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:49:30.343Z,1628905770.343 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09A,000,0030D,187,80,80,40,FF
2021-08-14T01:49:30.348Z,1628905770.348 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:49:30.432Z,1628905770.432 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:49:30.801Z,1628905770.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014929.61*5E

2021-08-14T01:49:31.034Z,1628905771.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 60.956720 deg, deltaT: 4.501963 s, approachRate: 0.519773 m/s, LOS rate: -12.068061 deg/s, posRepo size: 4
2021-08-14T01:49:31.035Z,1628905771.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.068061 deg/s. Setting heading cmd to target bearing of 60.956720deg and heading rate command to 0 deg/s.
2021-08-14T01:49:33.071Z,1628905773.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:49:33.205Z,1628905773.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:49:33.205Z,1628905773.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:49:33.205Z,1628905773.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:49:33.206Z,1628905773.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:49:33.602Z,1628905773.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09A,000,0030D,187,80,80,40,FF
2021-08-14T01:49:33.602Z,1628905773.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:49:33.602Z,1628905773.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:49:33.624Z,1628905773.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:49:34.004Z,1628905774.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:49:34.411Z,1628905774.411 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,317,000,00324,189,80,80,57,FF
2021-08-14T01:49:34.414Z,1628905774.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:49:34.507Z,1628905774.507 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:49:34.837Z,1628905774.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014933.70*55

2021-08-14T01:49:34.926Z,1628905774.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 38.571325 deg, deltaT: 4.078564 s, approachRate: 0.338354 m/s, LOS rate: -5.488548 deg/s, posRepo size: 4
2021-08-14T01:49:34.932Z,1628905774.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.739998 m,
      bearing: 38.571325 deg,
      approachRate: 0.338354 m/s,
      LOS rate: -5.488548 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 60.956720 deg,
      new cmd heading: 60.956720 deg.

2021-08-14T01:49:37.492Z,1628905777.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:49:37.801Z,1628905777.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:49:37.801Z,1628905777.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:49:37.801Z,1628905777.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:49:37.802Z,1628905777.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:49:38.165Z,1628905778.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
317,000,00324,189,80,80,57,FF
2021-08-14T01:49:38.165Z,1628905778.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:49:38.165Z,1628905778.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:49:38.167Z,1628905778.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:49:38.553Z,1628905778.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:49:38.949Z,1628905778.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CE,000,0033C,187,80,80,8F,FF
2021-08-14T01:49:38.950Z,1628905778.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:49:39.024Z,1628905779.024 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:49:39.381Z,1628905779.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014938.25*5E

2021-08-14T01:49:39.594Z,1628905779.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.179997 m, bearing: 71.077899 deg, deltaT: 4.512197 s, approachRate: 0.319135 m/s, LOS rate: 7.204157 deg/s, posRepo size: 4
2021-08-14T01:49:39.596Z,1628905779.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.179997 m,
      bearing: 71.077899 deg,
      approachRate: 0.319135 m/s,
      LOS rate: 7.204157 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 6.810223 deg,
      new cmd heading: 359.835246 deg.

2021-08-14T01:49:41.858Z,1628905781.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:49:42.172Z,1628905782.172 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:49:42.173Z,1628905782.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:49:42.173Z,1628905782.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:49:42.174Z,1628905782.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:49:42.581Z,1628905782.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CE,000,0033C,187,80,80,8F,FF
2021-08-14T01:49:42.582Z,1628905782.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:49:42.582Z,1628905782.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:49:42.585Z,1628905782.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:49:42.988Z,1628905782.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:49:42.000Z,1628905783.000 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T01:49:43.393Z,1628905783.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,364,000,00367,189,80,80,7D,FF
2021-08-14T01:49:43.394Z,1628905783.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:49:43.578Z,1628905783.578 [Micromodem](INFO): Outgoing frame #1, 60 bytes: CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800
2021-08-14T01:49:43.579Z,1628905783.579 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:49:43.658Z,1628905783.658 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:49:43.854Z,1628905783.854 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:49:44.024Z,1628905784.024 [PowerOnly](INFO): Powering down loadControl
2021-08-14T01:49:44.070Z,1628905784.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.759997 m, bearing: 21.808439 deg, deltaT: 4.634368 s, approachRate: 0.556710 m/s, LOS rate: -10.631323 deg/s, posRepo size: 4
2021-08-14T01:49:44.070Z,1628905784.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.76 m. Rolling out.
2021-08-14T01:49:44.070Z,1628905784.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T01:49:44.285Z,1628905784.285 [Micromodem](INFO): Nmea in: $CADRQ,014943,1,10,0,64,1*7D

2021-08-14T01:49:44.286Z,1628905784.286 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800*4C

2021-08-14T01:49:44.677Z,1628905784.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014942.66*54

2021-08-14T01:49:44.677Z,1628905784.677 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,014942.66*54

2021-08-14T01:49:45.901Z,1628905785.901 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T01:49:46.210Z,1628905786.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:49:46.357Z,1628905786.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:49:46.357Z,1628905786.357 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:49:46.357Z,1628905786.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:49:46.358Z,1628905786.358 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:49:46.365Z,1628905786.365 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T01:49:46.773Z,1628905786.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
364,000,00367,189,80,80,7D,FF
2021-08-14T01:49:46.773Z,1628905786.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:49:46.773Z,1628905786.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:49:46.775Z,1628905786.775 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T01:49:46.776Z,1628905786.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:49:47.157Z,1628905787.157 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,014944.383698,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57

2021-08-14T01:49:47.157Z,1628905787.157 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,014944.383698,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57

2021-08-14T01:49:47.567Z,1628905787.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:49:47.962Z,1628905787.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014946.85*5D

2021-08-14T01:49:48.886Z,1628905788.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:49:50.509Z,1628905790.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,7D,FF
2021-08-14T01:49:50.509Z,1628905790.509 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,7D,FF
2021-08-14T01:49:50.510Z,1628905790.510 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:49:51.566Z,1628905791.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:49:51.933Z,1628905791.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:49:51.933Z,1628905791.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:49:51.933Z,1628905791.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:49:51.934Z,1628905791.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:49:52.319Z,1628905792.319 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,7D,FF
2021-08-14T01:49:52.319Z,1628905792.319 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:49:52.319Z,1628905792.319 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:49:52.323Z,1628905792.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:49:52.728Z,1628905792.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:49:53.142Z,1628905793.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,003CB,189,80,80,31,FF
2021-08-14T01:49:53.142Z,1628905793.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:49:53.200Z,1628905793.200 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:49:53.581Z,1628905793.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014952.40*51

2021-08-14T01:49:53.603Z,1628905793.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 89.429490 deg, deltaT: 9.541724 s, approachRate: 0.628817 m/s, LOS rate: 7.086880 deg/s, posRepo size: 4
2021-08-14T01:49:56.011Z,1628905796.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:49:56.379Z,1628905796.379 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:49:56.379Z,1628905796.379 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:49:56.379Z,1628905796.379 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:49:56.381Z,1628905796.381 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:49:56.801Z,1628905796.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,003CB,189,80,80,31,FF
2021-08-14T01:49:56.801Z,1628905796.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:49:56.801Z,1628905796.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:49:56.803Z,1628905796.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:49:57.180Z,1628905797.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:49:57.610Z,1628905797.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D1,000,00404,18A,80,80,2F,FF
2021-08-14T01:49:57.610Z,1628905797.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:49:57.666Z,1628905797.666 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:49:58.054Z,1628905798.054 [Micromodem](INFO): Nmea in: $SNTTA,0.045728,,,,014956.88*43

2021-08-14T01:49:58.083Z,1628905798.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.180000 m, bearing: 34.251954 deg, deltaT: 4.466439 s, approachRate: 0.765711 m/s, LOS rate: -12.353809 deg/s, posRepo size: 4
2021-08-14T01:50:00.541Z,1628905800.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:00.861Z,1628905800.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:50:00.861Z,1628905800.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:50:00.861Z,1628905800.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:50:00.862Z,1628905800.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:50:01.250Z,1628905801.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D1,000,00404,18A,80,80,2F,FF
2021-08-14T01:50:01.250Z,1628905801.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:50:01.251Z,1628905801.251 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:50:01.254Z,1628905801.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:50:01.671Z,1628905801.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:50:02.101Z,1628905802.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20A,000,0042F,186,80,80,72,FF
2021-08-14T01:50:02.102Z,1628905802.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:50:02.159Z,1628905802.159 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:50:02.525Z,1628905802.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015001.33*5B

2021-08-14T01:50:02.586Z,1628905802.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.760000 m, bearing: 43.594485 deg, deltaT: 4.492774 s, approachRate: 0.574255 m/s, LOS rate: 2.079457 deg/s, posRepo size: 4
2021-08-14T01:50:04.680Z,1628905804.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:04.933Z,1628905804.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:50:04.933Z,1628905804.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:50:04.933Z,1628905804.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:50:04.934Z,1628905804.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:50:05.346Z,1628905805.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20A,000,0042F,186,80,80,72,FF
2021-08-14T01:50:05.347Z,1628905805.347 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:50:05.347Z,1628905805.347 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:50:05.349Z,1628905805.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:50:05.751Z,1628905805.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:50:06.161Z,1628905806.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F0,000,00469,187,80,80,55,FF
2021-08-14T01:50:06.162Z,1628905806.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:50:06.182Z,1628905806.182 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:50:06.597Z,1628905806.597 [Micromodem](INFO): Nmea in: $SNTTA,0.037876,0.487543,,,015005.43*5C

2021-08-14T01:50:06.646Z,1628905806.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.239998 m, bearing: 56.831009 deg, deltaT: 4.022940 s, approachRate: 0.865038 m/s, LOS rate: 3.290261 deg/s, posRepo size: 4
2021-08-14T01:50:09.026Z,1628905809.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:09.397Z,1628905809.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:50:09.397Z,1628905809.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:50:09.398Z,1628905809.398 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:50:09.399Z,1628905809.399 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:50:09.797Z,1628905809.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F0,000,00469,187,80,80,55,FF
2021-08-14T01:50:09.797Z,1628905809.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:50:09.797Z,1628905809.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:50:09.799Z,1628905809.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:50:10.203Z,1628905810.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:50:10.666Z,1628905810.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,00496,185,80,80,64,FF
2021-08-14T01:50:10.666Z,1628905810.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:50:10.781Z,1628905810.781 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:50:11.077Z,1628905811.077 [Micromodem](INFO): Nmea in: $SNTTA,0.071282,,,,015009.88*43

2021-08-14T01:50:11.119Z,1628905811.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 52.783985 deg, deltaT: 4.599049 s, approachRate: 0.587078 m/s, LOS rate: -0.879970 deg/s, posRepo size: 4
2021-08-14T01:50:13.633Z,1628905813.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:13.965Z,1628905813.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:50:13.965Z,1628905813.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:50:13.965Z,1628905813.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:50:13.966Z,1628905813.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:50:14.373Z,1628905814.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,00496,185,80,80,64,FF
2021-08-14T01:50:14.373Z,1628905814.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:50:14.373Z,1628905814.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:50:14.375Z,1628905814.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:50:14.812Z,1628905814.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:50:15.177Z,1628905815.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B1,000,004D5,186,80,80,71,FF
2021-08-14T01:50:15.177Z,1628905815.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:50:15.220Z,1628905815.220 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:50:15.621Z,1628905815.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015014.45*5E

2021-08-14T01:50:15.667Z,1628905815.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.719997 m, bearing: 47.917489 deg, deltaT: 4.438793 s, approachRate: 0.851583 m/s, LOS rate: -1.096356 deg/s, posRepo size: 4
2021-08-14T01:50:17.758Z,1628905817.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:18.077Z,1628905818.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:50:18.077Z,1628905818.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:50:18.077Z,1628905818.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:50:18.078Z,1628905818.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:50:18.589Z,1628905818.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B1,000,004D5,186,80,80,71,FF
2021-08-14T01:50:18.589Z,1628905818.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:50:18.589Z,1628905818.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:50:18.591Z,1628905818.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:50:19.160Z,1628905819.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:50:19.935Z,1628905819.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015018.67*52

2021-08-14T01:50:20.338Z,1628905820.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AF,000,03776,186,80,80,96,FF
2021-08-14T01:50:20.339Z,1628905820.339 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:50:20.399Z,1628905820.399 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T01:50:20.832Z,1628905820.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 814.380066 m, bearing: 47.428379 deg, deltaT: 5.183448 s, approachRate: 150.027573 m/s, LOS rate: -0.094360 deg/s, posRepo size: 4
2021-08-14T01:50:20.833Z,1628905820.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 814.38 m. Resuming terminal guidance.
2021-08-14T01:50:20.833Z,1628905820.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T01:50:21.159Z,1628905821.159 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T01:50:21.159Z,1628905821.159 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:50:21.159Z,1628905821.159 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T01:50:21.180Z,1628905821.180 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T01:50:21.181Z,1628905821.181 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T01:50:21.181Z,1628905821.181 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T01:50:21.595Z,1628905821.595 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T01:50:21.595Z,1628905821.595 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:50:21.595Z,1628905821.595 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T01:50:21.600Z,1628905821.600 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T01:50:22.990Z,1628905822.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:23.169Z,1628905823.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:50:23.169Z,1628905823.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:50:23.169Z,1628905823.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:50:23.170Z,1628905823.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:50:23.561Z,1628905823.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AF,000,03776,186,80,80,96,FF
2021-08-14T01:50:23.561Z,1628905823.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:50:23.561Z,1628905823.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:50:23.563Z,1628905823.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:50:23.975Z,1628905823.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:50:24.392Z,1628905824.392 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,197,000,00549,185,80,80,5C,FF
2021-08-14T01:50:24.392Z,1628905824.392 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:50:24.837Z,1628905824.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015023.64*59

2021-08-14T01:50:25.062Z,1628905825.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.680000 m, bearing: 48.808573 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T01:50:25.063Z,1628905825.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 48.808573deg and heading rate command to 0 deg/s.
2021-08-14T01:50:27.413Z,1628905827.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:27.789Z,1628905827.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:50:27.789Z,1628905827.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:50:27.789Z,1628905827.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:50:27.790Z,1628905827.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:50:28.177Z,1628905828.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
197,000,00549,185,80,80,5C,FF
2021-08-14T01:50:28.177Z,1628905828.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:50:28.177Z,1628905828.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:50:28.179Z,1628905828.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:50:28.584Z,1628905828.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:50:28.981Z,1628905828.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,00577,187,80,80,68,FF
2021-08-14T01:50:28.981Z,1628905828.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:50:29.434Z,1628905829.434 [Micromodem](INFO): Nmea in: $SNTTA,0.365402,,,,015028.26*4C

2021-08-14T01:50:29.449Z,1628905829.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.439999 m, bearing: 43.671833 deg, deltaT: 4.695210 s, approachRate: 0.587833 m/s, LOS rate: -1.094038 deg/s, posRepo size: 2
2021-08-14T01:50:29.451Z,1628905829.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.439999 m,
      bearing: 43.671833 deg,
      approachRate: 0.587833 m/s,
      LOS rate: -1.094038 deg/s,
      cmd update: -3.282115 deg/s,
      cmd heading: 48.808573 deg,
      new cmd heading: 48.808573 deg.

2021-08-14T01:50:31.833Z,1628905831.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:32.273Z,1628905832.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:50:32.273Z,1628905832.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:50:32.273Z,1628905832.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:50:32.274Z,1628905832.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:50:32.645Z,1628905832.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,00577,187,80,80,68,FF
2021-08-14T01:50:32.645Z,1628905832.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:50:32.645Z,1628905832.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:50:32.647Z,1628905832.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:50:33.108Z,1628905833.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:50:33.509Z,1628905833.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,005B2,185,80,80,77,FF
2021-08-14T01:50:33.510Z,1628905833.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:50:33.922Z,1628905833.922 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015032.73*5F

2021-08-14T01:50:33.947Z,1628905833.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.980003 m, bearing: 72.974895 deg, deltaT: 4.333569 s, approachRate: 0.816880 m/s, LOS rate: 6.761877 deg/s, posRepo size: 3
2021-08-14T01:50:33.949Z,1628905833.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.980003 m,
      bearing: 72.974895 deg,
      approachRate: 0.816880 m/s,
      LOS rate: 6.761877 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 34.585595 deg,
      new cmd heading: 33.206680 deg.

2021-08-14T01:50:36.359Z,1628905836.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:36.735Z,1628905836.735 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:50:36.736Z,1628905836.736 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:50:36.737Z,1628905836.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:50:36.738Z,1628905836.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:50:37.129Z,1628905837.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E97,000,005B2,185,80,80,77,FF
2021-08-14T01:50:37.129Z,1628905837.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:50:37.129Z,1628905837.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:50:37.131Z,1628905837.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:50:37.537Z,1628905837.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:50:37.961Z,1628905837.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F4,000,005E1,189,80,80,59,FF
2021-08-14T01:50:37.962Z,1628905837.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:50:38.402Z,1628905838.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015037.21*5D

2021-08-14T01:50:38.482Z,1628905838.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.799999 m, bearing: 352.818558 deg, deltaT: 4.491265 s, approachRate: 0.627885 m/s, LOS rate: -17.847161 deg/s, posRepo size: 4
2021-08-14T01:50:38.483Z,1628905838.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.847161 deg/s. Setting heading cmd to target bearing of 352.818558deg and heading rate command to 0 deg/s.
2021-08-14T01:50:40.866Z,1628905840.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:41.189Z,1628905841.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:50:41.189Z,1628905841.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:50:41.189Z,1628905841.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:50:41.190Z,1628905841.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:50:41.586Z,1628905841.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F4,000,005E1,189,80,80,59,FF
2021-08-14T01:50:41.587Z,1628905841.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:50:41.587Z,1628905841.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:50:41.589Z,1628905841.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:50:41.996Z,1628905841.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:50:42.453Z,1628905842.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,00611,187,80,80,41,FF
2021-08-14T01:50:42.454Z,1628905842.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:50:42.857Z,1628905842.857 [Micromodem](INFO): Nmea in: $SNTTA,0.044497,0.367415,,,015041.67*56

2021-08-14T01:50:42.883Z,1628905842.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.680000 m, bearing: 76.268658 deg, deltaT: 4.587143 s, approachRate: 0.627842 m/s, LOS rate: 18.192171 deg/s, posRepo size: 4
2021-08-14T01:50:42.883Z,1628905842.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.192171 deg/s. Setting heading cmd to target bearing of 76.268658deg and heading rate command to 0 deg/s.
2021-08-14T01:50:45.426Z,1628905845.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:45.716Z,1628905845.716 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:50:45.717Z,1628905845.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:50:45.717Z,1628905845.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:50:45.719Z,1628905845.719 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:50:46.105Z,1628905846.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,00611,187,80,80,41,FF
2021-08-14T01:50:46.105Z,1628905846.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:50:46.105Z,1628905846.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:50:46.107Z,1628905846.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:50:46.545Z,1628905846.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:50:46.897Z,1628905846.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,296,000,00645,18A,80,80,69,FF
2021-08-14T01:50:46.897Z,1628905846.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:50:47.330Z,1628905847.330 [Micromodem](INFO): Nmea in: $SNTTA,0.038664,,,,015046.18*40

2021-08-14T01:50:47.371Z,1628905847.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.799999 m, bearing: 29.297468 deg, deltaT: 4.319103 s, approachRate: 0.722372 m/s, LOS rate: -10.875218 deg/s, posRepo size: 4
2021-08-14T01:50:47.373Z,1628905847.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.799999 m,
      bearing: 29.297468 deg,
      approachRate: 0.722372 m/s,
      LOS rate: -10.875218 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 76.268658 deg,
      new cmd heading: 76.268658 deg.

2021-08-14T01:50:48.933Z,1628905848.933 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T01:50:49.518Z,1628905849.518 [Micromodem](INFO): Outgoing frame #1, 60 bytes: CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800
2021-08-14T01:50:49.518Z,1628905849.518 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:50:49.586Z,1628905849.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:49.801Z,1628905849.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:50:49.801Z,1628905849.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:50:49.801Z,1628905849.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:50:49.802Z,1628905849.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:50:49.810Z,1628905849.810 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:50:50.193Z,1628905850.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,00645,18A,80,80,69,FF
2021-08-14T01:50:50.193Z,1628905850.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:50:50.193Z,1628905850.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:50:50.195Z,1628905850.195 [Micromodem](INFO): Nmea in: $CADRQ,015049,1,10,0,64,1*7F

2021-08-14T01:50:50.196Z,1628905850.196 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800*4C

2021-08-14T01:50:50.598Z,1628905850.598 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T01:50:50.598Z,1628905850.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:50:51.051Z,1628905851.051 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T01:50:51.052Z,1628905851.052 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-14T01:50:52.270Z,1628905852.270 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T01:50:52.270Z,1628905852.270 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T01:50:52.288Z,1628905852.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:52.675Z,1628905852.675 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,015050.293398,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5F

2021-08-14T01:50:52.676Z,1628905852.676 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,015050.293398,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5F

2021-08-14T01:50:54.795Z,1628905854.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:55.924Z,1628905855.924 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.121873
2021-08-14T01:50:57.442Z,1628905857.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:50:57.637Z,1628905857.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:50:57.637Z,1628905857.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:50:57.637Z,1628905857.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:50:57.638Z,1628905857.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:50:58.020Z,1628905858.020 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,00645,18A,80,80,69,FF
2021-08-14T01:50:58.020Z,1628905858.020 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:50:58.020Z,1628905858.020 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:51:00.071Z,1628905860.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:01.645Z,1628905861.645 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:51:02.057Z,1628905862.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:51:02.501Z,1628905862.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,49D,000,00702,189,80,80,75,FF
2021-08-14T01:51:02.502Z,1628905862.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:51:02.897Z,1628905862.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015101.72*5F

2021-08-14T01:51:02.971Z,1628905862.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.139999 m, bearing: 341.497301 deg, deltaT: 15.660806 s, approachRate: 0.724101 m/s, LOS rate: -3.052216 deg/s, posRepo size: 4
2021-08-14T01:51:02.976Z,1628905862.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.139999 m,
      bearing: 341.497301 deg,
      approachRate: 0.724101 m/s,
      LOS rate: -3.052216 deg/s,
      cmd update: -9.156649 deg/s,
      cmd heading: 248.384809 deg,
      new cmd heading: 243.710317 deg.

2021-08-14T01:51:05.431Z,1628905865.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:05.682Z,1628905865.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:51:05.682Z,1628905865.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:51:05.683Z,1628905865.683 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:51:05.684Z,1628905865.684 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:51:06.089Z,1628905866.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
49D,000,00702,189,80,80,75,FF
2021-08-14T01:51:06.089Z,1628905866.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:51:06.089Z,1628905866.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:51:06.091Z,1628905866.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:51:06.536Z,1628905866.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:51:06.897Z,1628905866.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A4,000,0072C,188,80,80,98,FF
2021-08-14T01:51:06.898Z,1628905866.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:51:07.346Z,1628905867.346 [Micromodem](INFO): Nmea in: $SNTTA,0.059051,,,,015106.17*4D

2021-08-14T01:51:07.391Z,1628905867.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.660004 m, bearing: 338.149388 deg, deltaT: 4.340688 s, approachRate: 0.580554 m/s, LOS rate: -0.771286 deg/s, posRepo size: 4
2021-08-14T01:51:07.394Z,1628905867.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.660004 m,
      bearing: 338.149388 deg,
      approachRate: 0.580554 m/s,
      LOS rate: -0.771286 deg/s,
      cmd update: -2.313858 deg/s,
      cmd heading: 208.601999 deg,
      new cmd heading: 204.343846 deg.

2021-08-14T01:51:09.951Z,1628905869.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:10.137Z,1628905870.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:51:10.137Z,1628905870.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:51:10.137Z,1628905870.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:51:10.138Z,1628905870.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:51:10.633Z,1628905870.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A4,000,0072C,188,80,80,98,FF
2021-08-14T01:51:10.633Z,1628905870.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:51:10.633Z,1628905870.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:51:10.635Z,1628905870.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:51:11.059Z,1628905871.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:51:11.425Z,1628905871.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,116,000,0074A,186,80,80,AD,FF
2021-08-14T01:51:11.425Z,1628905871.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:51:11.941Z,1628905871.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015110.71*5C

2021-08-14T01:51:11.991Z,1628905871.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.459999 m, bearing: 354.975641 deg, deltaT: 4.515951 s, approachRate: 0.398586 m/s, LOS rate: 3.725960 deg/s, posRepo size: 4
2021-08-14T01:51:11.993Z,1628905871.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.459999 m,
      bearing: 354.975641 deg,
      approachRate: 0.398586 m/s,
      LOS rate: 3.725960 deg/s,
      cmd update: 11.177879 deg/s,
      cmd heading: 198.153054 deg,
      new cmd heading: 196.882436 deg.

2021-08-14T01:51:14.529Z,1628905874.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:14.699Z,1628905874.699 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:51:14.700Z,1628905874.700 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:51:14.700Z,1628905874.700 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:51:14.701Z,1628905874.701 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:51:15.105Z,1628905875.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
116,000,0074A,186,80,80,AD,FF
2021-08-14T01:51:15.105Z,1628905875.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:51:15.106Z,1628905875.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:51:15.107Z,1628905875.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:51:15.508Z,1628905875.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:51:15.905Z,1628905875.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,183,000,00762,185,80,80,6D,FF
2021-08-14T01:51:15.906Z,1628905875.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:51:16.357Z,1628905876.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015115.19*57

2021-08-14T01:51:16.623Z,1628905876.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.900002 m, bearing: 333.653266 deg, deltaT: 4.556308 s, approachRate: 0.316046 m/s, LOS rate: -4.679749 deg/s, posRepo size: 4
2021-08-14T01:51:16.625Z,1628905876.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.900002 m,
      bearing: 333.653266 deg,
      approachRate: 0.316046 m/s,
      LOS rate: -4.679749 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 249.050578 deg,
      new cmd heading: 256.065167 deg.

2021-08-14T01:51:18.563Z,1628905878.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:18.893Z,1628905878.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:51:18.893Z,1628905878.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:51:18.893Z,1628905878.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:51:18.894Z,1628905878.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:51:19.297Z,1628905879.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
183,000,00762,185,80,80,6D,FF
2021-08-14T01:51:19.297Z,1628905879.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:51:19.297Z,1628905879.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:51:19.299Z,1628905879.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:51:19.706Z,1628905879.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:51:20.105Z,1628905880.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0076E,189,80,80,90,FF
2021-08-14T01:51:20.105Z,1628905880.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:51:20.541Z,1628905880.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015119.38*58

2021-08-14T01:51:20.795Z,1628905880.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.620003 m, bearing: 272.762020 deg, deltaT: 4.164750 s, approachRate: 0.172880 m/s, LOS rate: -14.620624 deg/s, posRepo size: 4
2021-08-14T01:51:20.797Z,1628905880.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.620624 deg/s. Setting heading cmd to target bearing of 272.762020deg and heading rate command to 0 deg/s.
2021-08-14T01:51:22.885Z,1628905882.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:23.049Z,1628905883.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:51:23.049Z,1628905883.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:51:23.049Z,1628905883.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:51:23.050Z,1628905883.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:51:23.435Z,1628905883.435 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0076E,189,80,80,90,FF
2021-08-14T01:51:23.435Z,1628905883.435 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:51:23.435Z,1628905883.435 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:51:23.437Z,1628905883.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:51:23.922Z,1628905883.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:51:24.261Z,1628905884.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0076E,189,80,80,A2,FF
2021-08-14T01:51:24.262Z,1628905884.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:51:24.709Z,1628905884.709 [Micromodem](INFO): Nmea in: $SNTTA,0.067021,,,,015123.52*41

2021-08-14T01:51:24.816Z,1628905884.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.620003 m, bearing: 257.994960 deg, deltaT: 4.140215 s, approachRate: 0.000000 m/s, LOS rate: -3.566738 deg/s, posRepo size: 4
2021-08-14T01:51:24.818Z,1628905884.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.620003 m,
      bearing: 257.994960 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.566738 deg/s,
      cmd update: -10.700213 deg/s,
      cmd heading: 272.762020 deg,
      new cmd heading: 272.762020 deg.

2021-08-14T01:51:27.310Z,1628905887.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:27.492Z,1628905887.492 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:51:27.492Z,1628905887.492 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:51:27.493Z,1628905887.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:51:27.494Z,1628905887.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:51:27.877Z,1628905887.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0076E,189,80,80,A2,FF
2021-08-14T01:51:27.877Z,1628905887.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:51:27.877Z,1628905887.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:51:27.879Z,1628905887.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:51:28.287Z,1628905888.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:51:28.691Z,1628905888.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00761,189,80,80,9D,FF
2021-08-14T01:51:28.692Z,1628905888.692 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:51:28.695Z,1628905888.695 [Micromodem](INFO): Nmea in: $SNTTA,0.217959,0.218915,,,015127.96*56

2021-08-14T01:51:29.306Z,1628905889.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.840004 m, bearing: 240.864463 deg, deltaT: 4.528398 s, approachRate: -0.172246 m/s, LOS rate: -3.782905 deg/s, posRepo size: 4
2021-08-14T01:51:29.308Z,1628905889.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.840004 m,
      bearing: 240.864463 deg,
      approachRate: -0.172246 m/s,
      LOS rate: -3.782905 deg/s,
      cmd update: -11.348714 deg/s,
      cmd heading: 224.309562 deg,
      new cmd heading: 219.191137 deg.

2021-08-14T01:51:31.561Z,1628905891.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:31.923Z,1628905891.923 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:51:31.923Z,1628905891.923 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:51:31.923Z,1628905891.923 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:51:31.924Z,1628905891.924 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:51:32.330Z,1628905892.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00761,189,80,80,9D,FF
2021-08-14T01:51:32.330Z,1628905892.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:51:32.330Z,1628905892.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:51:32.342Z,1628905892.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:51:32.759Z,1628905892.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:51:33.135Z,1628905893.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B9,000,0074A,189,80,80,97,FF
2021-08-14T01:51:33.135Z,1628905893.135 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:51:33.581Z,1628905893.581 [Micromodem](INFO): Nmea in: $SNTTA,0.061793,,,,015132.42*48

2021-08-14T01:51:33.859Z,1628905893.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.459999 m, bearing: 240.057572 deg, deltaT: 4.363560 s, approachRate: -0.316257 m/s, LOS rate: -0.184916 deg/s, posRepo size: 4
2021-08-14T01:51:33.867Z,1628905893.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.459999 m,
      bearing: 240.057572 deg,
      approachRate: -0.316257 m/s,
      LOS rate: -0.184916 deg/s,
      cmd update: -0.554747 deg/s,
      cmd heading: 174.786886 deg,
      new cmd heading: 167.216499 deg.

2021-08-14T01:51:36.243Z,1628905896.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:36.441Z,1628905896.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:51:36.441Z,1628905896.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:51:36.442Z,1628905896.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:51:36.443Z,1628905896.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:51:36.821Z,1628905896.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B9,000,0074A,189,80,80,97,FF
2021-08-14T01:51:36.821Z,1628905896.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:51:36.821Z,1628905896.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:51:36.823Z,1628905896.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:51:37.301Z,1628905897.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:51:38.082Z,1628905898.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015136.90*57

2021-08-14T01:51:38.938Z,1628905898.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:40.501Z,1628905900.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,189,80,80,97,FF
2021-08-14T01:51:40.502Z,1628905900.502 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,189,80,80,97,FF
2021-08-14T01:51:40.502Z,1628905900.502 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:51:41.754Z,1628905901.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:42.085Z,1628905902.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:51:42.085Z,1628905902.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:51:42.085Z,1628905902.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:51:42.086Z,1628905902.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:51:42.533Z,1628905902.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,189,80,80,97,FF
2021-08-14T01:51:42.533Z,1628905902.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:51:42.533Z,1628905902.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:51:42.535Z,1628905902.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:51:42.937Z,1628905902.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:51:43.334Z,1628905903.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EB,000,006F7,186,80,80,AA,FF
2021-08-14T01:51:43.335Z,1628905903.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:51:43.818Z,1628905903.818 [Micromodem](INFO): Nmea in: $SNTTA,0.051571,,,,015142.61*43

2021-08-14T01:51:43.847Z,1628905903.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.479996 m, bearing: 233.105477 deg, deltaT: 10.204441 s, approachRate: -0.488023 m/s, LOS rate: -0.681281 deg/s, posRepo size: 4
2021-08-14T01:51:43.850Z,1628905903.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.479996 m,
      bearing: 233.105477 deg,
      approachRate: -0.488023 m/s,
      LOS rate: -0.681281 deg/s,
      cmd update: -2.043844 deg/s,
      cmd heading: 169.123757 deg,
      new cmd heading: 168.875530 deg.

2021-08-14T01:51:46.382Z,1628905906.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:46.585Z,1628905906.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:51:46.585Z,1628905906.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:51:46.585Z,1628905906.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:51:46.586Z,1628905906.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:51:46.985Z,1628905906.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EB,000,006F7,186,80,80,AA,FF
2021-08-14T01:51:46.985Z,1628905906.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:51:46.986Z,1628905906.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:51:46.987Z,1628905906.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:51:47.410Z,1628905907.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:51:47.813Z,1628905907.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,006CE,186,80,80,AC,FF
2021-08-14T01:51:47.813Z,1628905907.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:51:48.239Z,1628905908.239 [Micromodem](INFO): Nmea in: $SNTTA,0.053769,,,,015147.07*4F

2021-08-14T01:51:48.489Z,1628905908.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.019997 m, bearing: 233.878053 deg, deltaT: 4.492046 s, approachRate: -0.547634 m/s, LOS rate: 0.171988 deg/s, posRepo size: 4
2021-08-14T01:51:48.491Z,1628905908.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.019997 m,
      bearing: 233.878053 deg,
      approachRate: -0.547634 m/s,
      LOS rate: 0.171988 deg/s,
      cmd update: 0.515963 deg/s,
      cmd heading: 159.942872 deg,
      new cmd heading: 158.722609 deg.

2021-08-14T01:51:50.919Z,1628905910.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:51.129Z,1628905911.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:51:51.129Z,1628905911.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:51:51.129Z,1628905911.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:51:51.130Z,1628905911.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:51:51.533Z,1628905911.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,006CE,186,80,80,AC,FF
2021-08-14T01:51:51.533Z,1628905911.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:51:51.533Z,1628905911.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:51:51.535Z,1628905911.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:51:51.945Z,1628905911.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:51:52.411Z,1628905912.411 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,006A1,188,80,80,8D,FF
2021-08-14T01:51:52.413Z,1628905912.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:51:53.045Z,1628905913.045 [Micromodem](INFO): Nmea in: $SNTTA,0.058714,0.353574,,,015151.61*54

2021-08-14T01:51:53.094Z,1628905913.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.320000 m, bearing: 233.931028 deg, deltaT: 4.887095 s, approachRate: -0.552475 m/s, LOS rate: 0.010840 deg/s, posRepo size: 4
2021-08-14T01:51:53.100Z,1628905913.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.320000 m,
      bearing: 233.931028 deg,
      approachRate: -0.552475 m/s,
      LOS rate: 0.010840 deg/s,
      cmd update: 0.032519 deg/s,
      cmd heading: 162.464344 deg,
      new cmd heading: 162.626986 deg.

2021-08-14T01:51:54.640Z,1628905914.640 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T01:51:55.237Z,1628905915.237 [Micromodem](INFO): Outgoing frame #1, 60 bytes: CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800
2021-08-14T01:51:55.238Z,1628905915.238 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:51:55.295Z,1628905915.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:55.482Z,1628905915.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:51:55.482Z,1628905915.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:51:55.482Z,1628905915.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:51:55.483Z,1628905915.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:51:55.489Z,1628905915.489 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:51:55.880Z,1628905915.880 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,006A1,188,80,80,8D,FF
2021-08-14T01:51:55.880Z,1628905915.880 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:51:55.880Z,1628905915.880 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:51:55.882Z,1628905915.882 [Micromodem](INFO): Nmea in: $CADRQ,015155,1,10,0,64,1*73

2021-08-14T01:51:55.882Z,1628905915.882 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800*4C

2021-08-14T01:51:56.286Z,1628905916.286 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T01:51:56.286Z,1628905916.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:51:56.737Z,1628905916.737 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T01:51:56.737Z,1628905916.737 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-14T01:51:57.930Z,1628905917.930 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T01:51:57.931Z,1628905917.931 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T01:51:57.951Z,1628905917.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:51:58.321Z,1628905918.321 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,015155.980949,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-14T01:51:58.322Z,1628905918.322 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,015155.980949,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-14T01:51:59.930Z,1628905919.930 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T01:51:59.931Z,1628905919.931 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T003940/Courier0031.lzma.parts
2021-08-14T01:51:59.931Z,1628905919.931 [Micromodem](INFO): Packets left to send: 0
2021-08-14T01:52:00.337Z,1628905920.337 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814015158.884547,06,32767,45,0105,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,24.2,8.11,16,-5.11,-01,-0.36,41,14500,4000*48

2021-08-14T01:52:00.337Z,1628905920.337 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814015158.884547,06,32767,45,0105,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,24.2,8.11,16,-5.11,-01,-0.36,41,14500,4000*48

2021-08-14T01:52:00.560Z,1628905920.560 [Micromodem](INFO): Outgoing frame #1, 60 bytes: CC101761220000005D00000400260000000000000000151D80030C5669C08C79986ABF3458C6A5A7B4D0CC39AF2343D8F0DCD9D5DE3483498C26E000
2021-08-14T01:52:00.658Z,1628905920.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:01.656Z,1628905921.656 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.173235
2021-08-14T01:52:03.295Z,1628905923.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:03.731Z,1628905923.731 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:52:03.732Z,1628905923.732 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:52:03.733Z,1628905923.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:52:03.734Z,1628905923.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:52:04.073Z,1628905924.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,006A1,188,80,80,8D,FF
2021-08-14T01:52:04.073Z,1628905924.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:52:04.073Z,1628905924.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:52:05.938Z,1628905925.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:07.319Z,1628905927.319 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:52:07.708Z,1628905927.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:52:07.720Z,1628905927.720 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:52:08.181Z,1628905928.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0064F,189,80,80,6A,FF
2021-08-14T01:52:08.182Z,1628905928.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:52:08.185Z,1628905928.185 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:52:08.597Z,1628905928.597 [Micromodem](INFO): Nmea in: $CADRQ,015207,1,10,0,64,1*77

2021-08-14T01:52:08.598Z,1628905928.598 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC101761220000005D00000400260000000000000000151D80030C5669C08C79986ABF3458C6A5A7B4D0CC39AF2343D8F0DCD9D5DE3483498C26E000*36

2021-08-14T01:52:08.779Z,1628905928.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.400002 m, bearing: 225.426282 deg, deltaT: 15.420398 s, approachRate: -0.319058 m/s, LOS rate: -0.551526 deg/s, posRepo size: 4
2021-08-14T01:52:08.786Z,1628905928.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.400002 m,
      bearing: 225.426282 deg,
      approachRate: -0.319058 m/s,
      LOS rate: -0.551526 deg/s,
      cmd update: -1.654577 deg/s,
      cmd heading: 162.965812 deg,
      new cmd heading: 162.984659 deg.

2021-08-14T01:52:09.006Z,1628905929.006 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015207.40*5B

2021-08-14T01:52:09.006Z,1628905929.006 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,015207.40*5B

2021-08-14T01:52:10.207Z,1628905930.207 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T01:52:10.637Z,1628905930.637 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T01:52:10.709Z,1628905930.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:11.001Z,1628905931.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:52:11.001Z,1628905931.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:52:11.002Z,1628905931.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:52:11.002Z,1628905931.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:52:11.008Z,1628905931.008 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T01:52:11.409Z,1628905931.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0064F,189,80,80,6A,FF
2021-08-14T01:52:11.410Z,1628905931.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:52:11.410Z,1628905931.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:52:11.413Z,1628905931.413 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,015208.696506,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*50

2021-08-14T01:52:11.413Z,1628905931.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:52:11.821Z,1628905931.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:52:12.751Z,1628905932.751 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015211.49*55

2021-08-14T01:52:13.584Z,1628905933.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:14.829Z,1628905934.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,6A,FF
2021-08-14T01:52:14.829Z,1628905934.829 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,6A,FF
2021-08-14T01:52:14.829Z,1628905934.829 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:52:16.092Z,1628905936.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:16.448Z,1628905936.448 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:52:16.449Z,1628905936.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:52:16.449Z,1628905936.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:52:16.450Z,1628905936.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:52:16.821Z,1628905936.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,6A,FF
2021-08-14T01:52:16.821Z,1628905936.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:52:16.821Z,1628905936.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:52:16.823Z,1628905936.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:52:17.331Z,1628905937.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:52:17.674Z,1628905937.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,00640,186,80,80,A3,FF
2021-08-14T01:52:17.674Z,1628905937.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:52:18.097Z,1628905938.097 [Micromodem](INFO): Nmea in: $SNTTA,0.065752,,,,015216.90*4B

2021-08-14T01:52:18.157Z,1628905938.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.500008 m, bearing: 177.634383 deg, deltaT: 9.554208 s, approachRate: -0.094199 m/s, LOS rate: -5.002183 deg/s, posRepo size: 4
2021-08-14T01:52:18.159Z,1628905938.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.500008 m,
      bearing: 177.634383 deg,
      approachRate: -0.094199 m/s,
      LOS rate: -5.002183 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 147.185054 deg,
      new cmd heading: 146.491227 deg.

2021-08-14T01:52:20.992Z,1628905940.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:21.137Z,1628905941.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:52:21.137Z,1628905941.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:52:21.137Z,1628905941.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:52:21.138Z,1628905941.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:52:21.534Z,1628905941.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,00640,186,80,80,A3,FF
2021-08-14T01:52:21.534Z,1628905941.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:52:21.534Z,1628905941.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:52:21.536Z,1628905941.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:52:21.944Z,1628905941.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:52:22.346Z,1628905942.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,0064F,186,80,80,8D,FF
2021-08-14T01:52:22.346Z,1628905942.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:52:22.797Z,1628905942.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015221.61*5C

2021-08-14T01:52:22.877Z,1628905942.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.400002 m, bearing: 154.198105 deg, deltaT: 4.639998 s, approachRate: 0.193964 m/s, LOS rate: -5.050924 deg/s, posRepo size: 4
2021-08-14T01:52:22.879Z,1628905942.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.400002 m,
      bearing: 154.198105 deg,
      approachRate: 0.193964 m/s,
      LOS rate: -5.050924 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 91.635997 deg,
      new cmd heading: 85.508233 deg.

2021-08-14T01:52:25.037Z,1628905945.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:25.332Z,1628905945.332 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:52:25.332Z,1628905945.332 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:52:25.333Z,1628905945.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:52:25.333Z,1628905945.333 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:52:25.753Z,1628905945.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,0064F,186,80,80,8D,FF
2021-08-14T01:52:25.753Z,1628905945.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:52:25.753Z,1628905945.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:52:25.755Z,1628905945.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:52:26.150Z,1628905946.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:52:26.546Z,1628905946.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7F,000,00669,189,80,80,84,FF
2021-08-14T01:52:26.546Z,1628905946.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:52:26.969Z,1628905946.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015225.83*54

2021-08-14T01:52:27.183Z,1628905947.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.960007 m, bearing: 170.648479 deg, deltaT: 4.246525 s, approachRate: 0.367360 m/s, LOS rate: 3.873844 deg/s, posRepo size: 4
2021-08-14T01:52:27.185Z,1628905947.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.960007 m,
      bearing: 170.648479 deg,
      approachRate: 0.367360 m/s,
      LOS rate: 3.873844 deg/s,
      cmd update: 11.621531 deg/s,
      cmd heading: 40.410744 deg,
      new cmd heading: 33.832428 deg.

2021-08-14T01:52:29.407Z,1628905949.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:29.801Z,1628905949.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:52:29.801Z,1628905949.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:52:29.801Z,1628905949.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:52:29.802Z,1628905949.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:52:30.261Z,1628905950.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7F,000,00669,189,80,80,84,FF
2021-08-14T01:52:30.261Z,1628905950.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:52:30.261Z,1628905950.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:52:30.263Z,1628905950.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:52:30.645Z,1628905950.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:52:31.025Z,1628905951.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB4,000,0068E,189,80,80,6B,FF
2021-08-14T01:52:31.026Z,1628905951.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:52:31.448Z,1628905951.448 [Micromodem](INFO): Nmea in: $SNTTA,0.053794,,,,015230.34*4E

2021-08-14T01:52:31.680Z,1628905951.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.180004 m, bearing: 143.015118 deg, deltaT: 4.459281 s, approachRate: 0.497838 m/s, LOS rate: -6.196820 deg/s, posRepo size: 4
2021-08-14T01:52:31.682Z,1628905951.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.180004 m,
      bearing: 143.015118 deg,
      approachRate: 0.497838 m/s,
      LOS rate: -6.196820 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 92.201528 deg,
      new cmd heading: 99.044343 deg.

2021-08-14T01:52:33.646Z,1628905953.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:33.853Z,1628905953.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:52:33.853Z,1628905953.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:52:33.853Z,1628905953.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:52:33.854Z,1628905953.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:52:34.253Z,1628905954.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB4,000,0068E,189,80,80,6B,FF
2021-08-14T01:52:34.253Z,1628905954.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:52:34.253Z,1628905954.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:52:34.255Z,1628905954.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:52:34.649Z,1628905954.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:52:35.057Z,1628905955.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,006B2,187,80,80,9D,FF
2021-08-14T01:52:35.058Z,1628905955.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:52:35.486Z,1628905955.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.339996 m, bearing: 107.811503 deg, deltaT: 3.995385 s, approachRate: 0.540622 m/s, LOS rate: -8.811070 deg/s, posRepo size: 4
2021-08-14T01:52:35.489Z,1628905955.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.339996 m,
      bearing: 107.811503 deg,
      approachRate: 0.540622 m/s,
      LOS rate: -8.811070 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 44.401830 deg,
      new cmd heading: 39.461274 deg.

2021-08-14T01:52:38.103Z,1628905958.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:38.285Z,1628905958.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:52:38.285Z,1628905958.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:52:38.285Z,1628905958.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:52:38.286Z,1628905958.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:52:38.694Z,1628905958.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,006B2,187,80,80,9D,FF
2021-08-14T01:52:38.694Z,1628905958.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:52:38.695Z,1628905958.695 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:52:38.696Z,1628905958.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:52:39.101Z,1628905959.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:52:39.497Z,1628905959.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,006E1,186,80,80,98,FF
2021-08-14T01:52:39.497Z,1628905959.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:52:39.927Z,1628905959.927 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015238.82*59

2021-08-14T01:52:40.116Z,1628905960.116 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:52:40.135Z,1628905960.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.160004 m, bearing: 88.598414 deg, deltaT: 4.452468 s, approachRate: 0.633358 m/s, LOS rate: -4.315155 deg/s, posRepo size: 4
2021-08-14T01:52:40.158Z,1628905960.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.160004 m,
      bearing: 88.598414 deg,
      approachRate: 0.633358 m/s,
      LOS rate: -4.315155 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 350.731301 deg,
      new cmd heading: 343.673368 deg.

2021-08-14T01:52:42.366Z,1628905962.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:42.736Z,1628905962.736 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:52:42.736Z,1628905962.736 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:52:42.737Z,1628905962.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:52:42.738Z,1628905962.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:52:43.129Z,1628905963.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,006E1,186,80,80,98,FF
2021-08-14T01:52:43.129Z,1628905963.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:52:43.129Z,1628905963.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:52:43.131Z,1628905963.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:52:43.545Z,1628905963.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:52:44.017Z,1628905964.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,00719,189,80,80,56,FF
2021-08-14T01:52:44.018Z,1628905964.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:52:44.412Z,1628905964.412 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015243.21*5C

2021-08-14T01:52:44.683Z,1628905964.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.519997 m, bearing: 25.789795 deg, deltaT: 4.520133 s, approachRate: 0.743339 m/s, LOS rate: -13.895303 deg/s, posRepo size: 4
2021-08-14T01:52:44.684Z,1628905964.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.895303 deg/s. Setting heading cmd to target bearing of 25.789795deg and heading rate command to 0 deg/s.
2021-08-14T01:52:46.773Z,1628905966.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:46.914Z,1628905966.914 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:52:46.914Z,1628905966.914 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:52:46.914Z,1628905966.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:52:46.915Z,1628905966.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:52:47.309Z,1628905967.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E6,000,00719,189,80,80,56,FF
2021-08-14T01:52:47.309Z,1628905967.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:52:47.309Z,1628905967.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:52:47.311Z,1628905967.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:52:47.716Z,1628905967.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:52:48.097Z,1628905968.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CEB,000,0074D,189,80,80,2B,FF
2021-08-14T01:52:48.097Z,1628905968.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:52:48.547Z,1628905968.547 [Micromodem](INFO): Nmea in: $SNTTA,0.071910,,,,015247.39*41

2021-08-14T01:52:48.602Z,1628905968.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.639999 m, bearing: 86.043199 deg, deltaT: 4.075117 s, approachRate: 0.765623 m/s, LOS rate: 14.785686 deg/s, posRepo size: 4
2021-08-14T01:52:48.603Z,1628905968.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.785686 deg/s. Setting heading cmd to target bearing of 86.043199deg and heading rate command to 0 deg/s.
2021-08-14T01:52:50.811Z,1628905970.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:50.934Z,1628905970.934 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:52:50.935Z,1628905970.935 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:52:50.935Z,1628905970.935 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:52:50.936Z,1628905970.936 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:52:51.330Z,1628905971.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CEB,000,0074D,189,80,80,2B,FF
2021-08-14T01:52:51.330Z,1628905971.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:52:51.330Z,1628905971.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:52:51.333Z,1628905971.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:52:51.751Z,1628905971.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:52:52.146Z,1628905972.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,373,000,00770,189,80,80,82,FF
2021-08-14T01:52:52.146Z,1628905972.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:52:52.586Z,1628905972.586 [Micromodem](INFO): Nmea in: $SNTTA,0.060248,,,,015251.41*4F

2021-08-14T01:52:52.856Z,1628905972.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.739998 m, bearing: 349.442969 deg, deltaT: 4.079716 s, approachRate: 0.514741 m/s, LOS rate: -23.678176 deg/s, posRepo size: 4
2021-08-14T01:52:52.857Z,1628905972.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.678176 deg/s. Setting heading cmd to target bearing of 349.442969deg and heading rate command to 0 deg/s.
2021-08-14T01:52:55.101Z,1628905975.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:55.445Z,1628905975.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:52:55.445Z,1628905975.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:52:55.445Z,1628905975.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:52:55.446Z,1628905975.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:52:55.866Z,1628905975.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
373,000,00770,189,80,80,82,FF
2021-08-14T01:52:55.866Z,1628905975.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:52:55.867Z,1628905975.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:52:55.869Z,1628905975.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:52:56.261Z,1628905976.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:52:56.662Z,1628905976.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,321,000,00798,189,80,80,7F,FF
2021-08-14T01:52:56.663Z,1628905976.663 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:52:57.205Z,1628905977.205 [Micromodem](INFO): Nmea in: $SNTTA,,0.187231,,,015255.95*44

2021-08-14T01:52:57.249Z,1628905977.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.140007 m, bearing: 340.038536 deg, deltaT: 4.737533 s, approachRate: 0.506595 m/s, LOS rate: -1.985091 deg/s, posRepo size: 4
2021-08-14T01:52:57.251Z,1628905977.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.140007 m,
      bearing: 340.038536 deg,
      approachRate: 0.506595 m/s,
      LOS rate: -1.985091 deg/s,
      cmd update: -5.955272 deg/s,
      cmd heading: 349.442969 deg,
      new cmd heading: 349.442969 deg.

2021-08-14T01:52:59.605Z,1628905979.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:52:59.961Z,1628905979.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:52:59.961Z,1628905979.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:52:59.961Z,1628905979.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:52:59.962Z,1628905979.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:53:00.346Z,1628905980.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
321,000,00798,189,80,80,7F,FF
2021-08-14T01:53:00.346Z,1628905980.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:53:00.346Z,1628905980.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:53:00.349Z,1628905980.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:53:00.814Z,1628905980.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:53:01.197Z,1628905981.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,140,000,007B7,185,80,80,8F,FF
2021-08-14T01:53:01.198Z,1628905981.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:53:01.619Z,1628905981.619 [Micromodem](INFO): Nmea in: $SNTTA,0.341531,,,,015300.43*41

2021-08-14T01:53:01.666Z,1628905981.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.000008 m, bearing: 358.384424 deg, deltaT: 4.287643 s, approachRate: 0.433805 m/s, LOS rate: 4.278782 deg/s, posRepo size: 4
2021-08-14T01:53:01.684Z,1628905981.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.000008 m,
      bearing: 358.384424 deg,
      approachRate: 0.433805 m/s,
      LOS rate: 4.278782 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 323.837395 deg,
      new cmd heading: 321.318564 deg.

2021-08-14T01:53:04.101Z,1628905984.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:53:04.463Z,1628905984.463 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:53:04.463Z,1628905984.463 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:53:04.467Z,1628905984.467 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:53:04.473Z,1628905984.473 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:53:04.841Z,1628905984.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
140,000,007B7,185,80,80,8F,FF
2021-08-14T01:53:04.841Z,1628905984.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:53:04.841Z,1628905984.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:53:04.843Z,1628905984.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:53:05.327Z,1628905985.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:53:05.745Z,1628905985.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B9,000,007D4,186,80,80,69,FF
2021-08-14T01:53:05.746Z,1628905985.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:53:05.753Z,1628905985.753 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T01:53:06.145Z,1628905986.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015304.92*56

2021-08-14T01:53:06.305Z,1628905986.305 [Micromodem](INFO): Outgoing frame #1, 60 bytes: CC101761220000005D00000400260000000000000000151D80030C5669C08C79986ABF3458C6A5A7B4D0CC39AF2343D8F0DCD9D5DE3483498C26E000
2021-08-14T01:53:06.305Z,1628905986.305 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T01:53:06.390Z,1628905986.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.739998 m, bearing: 335.892885 deg, deltaT: 4.574209 s, approachRate: 0.380392 m/s, LOS rate: -4.917034 deg/s, posRepo size: 4
2021-08-14T01:53:06.398Z,1628905986.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.739998 m,
      bearing: 335.892885 deg,
      approachRate: 0.380392 m/s,
      LOS rate: -4.917034 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 18.727988 deg,
      new cmd heading: 25.525280 deg.

2021-08-14T01:53:07.441Z,1628905987.441 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T01:53:07.842Z,1628905987.842 [Micromodem](INFO): Nmea in: $CADRQ,015306,1,10,0,64,1*77

2021-08-14T01:53:07.842Z,1628905987.842 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC101761220000005D00000400260000000000000000151D80030C5669C08C79986ABF3458C6A5A7B4D0CC39AF2343D8F0DCD9D5DE3483498C26E000*36

2021-08-14T01:53:08.257Z,1628905988.257 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T01:53:08.642Z,1628905988.642 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T01:53:08.752Z,1628905988.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:53:09.049Z,1628905989.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:53:09.049Z,1628905989.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:53:09.049Z,1628905989.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:53:09.050Z,1628905989.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:53:09.445Z,1628905989.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B9,000,007D4,186,80,80,69,FF
2021-08-14T01:53:09.446Z,1628905989.446 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:53:09.446Z,1628905989.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:53:09.447Z,1628905989.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:53:09.858Z,1628905989.858 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T01:53:09.859Z,1628905989.859 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T01:53:10.259Z,1628905990.259 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,015307.944515,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5C

2021-08-14T01:53:10.260Z,1628905990.260 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,015307.944515,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5C

2021-08-14T01:53:11.307Z,1628905991.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:53:11.910Z,1628905991.910 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T01:53:11.911Z,1628905991.911 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T003940/Courier0034.lzma.parts
2021-08-14T01:53:11.911Z,1628905991.911 [Micromodem](INFO): Packets left to send: 0
2021-08-14T01:53:12.282Z,1628905992.282 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814015310.875095,06,30764,44,0097,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,25.6,10.29,20,-7.29,-01,0.12,39,14500,4000*57

2021-08-14T01:53:12.282Z,1628905992.282 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814015310.875095,06,30764,44,0097,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,25.6,10.29,20,-7.29,-01,0.12,39,14500,4000*57

2021-08-14T01:53:12.602Z,1628905992.602 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T01:53:12.602Z,1628905992.602 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T01:53:12.602Z,1628905992.602 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T01:53:12.602Z,1628905992.602 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T01:53:12.602Z,1628905992.602 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T01:53:14.011Z,1628905994.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:53:15.176Z,1628905995.176 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.125888
2021-08-14T01:53:16.591Z,1628905996.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:53:16.881Z,1628905996.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:53:16.881Z,1628905996.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:53:16.881Z,1628905996.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:53:16.882Z,1628905996.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:53:17.294Z,1628905997.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B9,000,007D4,186,80,80,69,FF
2021-08-14T01:53:17.294Z,1628905997.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:53:17.294Z,1628905997.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:53:19.361Z,1628905999.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:53:20.526Z,1628906000.526 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:53:20.933Z,1628906000.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:53:21.334Z,1628906001.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00816,189,80,80,AE,FF
2021-08-14T01:53:21.335Z,1628906001.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:53:21.798Z,1628906001.798 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015320.61*5C

2021-08-14T01:53:21.868Z,1628906001.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.700005 m, bearing: 277.719535 deg, deltaT: 15.560618 s, approachRate: 0.254489 m/s, LOS rate: -3.738498 deg/s, posRepo size: 4
2021-08-14T01:53:21.870Z,1628906001.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.700005 m,
      bearing: 277.719535 deg,
      approachRate: 0.254489 m/s,
      LOS rate: -3.738498 deg/s,
      cmd update: -11.215495 deg/s,
      cmd heading: 191.952747 deg,
      new cmd heading: 186.178119 deg.

2021-08-14T01:53:24.288Z,1628906004.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:53:24.574Z,1628906004.574 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:53:24.575Z,1628906004.575 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:53:24.575Z,1628906004.575 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:53:24.576Z,1628906004.576 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:53:24.981Z,1628906004.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00816,189,80,80,AE,FF
2021-08-14T01:53:24.981Z,1628906004.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:53:24.981Z,1628906004.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:53:24.983Z,1628906004.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:53:25.401Z,1628906005.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:53:25.789Z,1628906005.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00814,189,80,80,A2,FF
2021-08-14T01:53:25.790Z,1628906005.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:53:26.213Z,1628906006.213 [Micromodem](INFO): Nmea in: $SNTTA,0.060248,,,,015325.06*4E

2021-08-14T01:53:26.248Z,1628906006.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.579994 m, bearing: 260.921204 deg, deltaT: 4.463328 s, approachRate: -0.026888 m/s, LOS rate: -3.763634 deg/s, posRepo size: 4
2021-08-14T01:53:26.250Z,1628906006.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.579994 m,
      bearing: 260.921204 deg,
      approachRate: -0.026888 m/s,
      LOS rate: -3.763634 deg/s,
      cmd update: -11.290900 deg/s,
      cmd heading: 141.947139 deg,
      new cmd heading: 137.385270 deg.

2021-08-14T01:53:27.833Z,1628906007.833 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:53:28.657Z,1628906008.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:53:29.013Z,1628906009.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:53:29.013Z,1628906009.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:53:29.013Z,1628906009.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:53:29.014Z,1628906009.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:53:29.413Z,1628906009.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00814,189,80,80,A2,FF
2021-08-14T01:53:29.413Z,1628906009.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:53:29.413Z,1628906009.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:53:29.415Z,1628906009.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:53:29.825Z,1628906009.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:53:30.221Z,1628906010.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0080E,189,80,80,7E,FF
2021-08-14T01:53:30.221Z,1628906010.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:53:30.669Z,1628906010.669 [Micromodem](INFO): Nmea in: $SNTTA,0.060171,,,,015329.50*48

2021-08-14T01:53:30.781Z,1628906010.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.220001 m, bearing: 244.763845 deg, deltaT: 4.427377 s, approachRate: -0.081311 m/s, LOS rate: -3.649420 deg/s, posRepo size: 4
2021-08-14T01:53:30.783Z,1628906010.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.220001 m,
      bearing: 244.763845 deg,
      approachRate: -0.081311 m/s,
      LOS rate: -3.649420 deg/s,
      cmd update: -10.948260 deg/s,
      cmd heading: 91.997347 deg,
      new cmd heading: 86.230983 deg.

2021-08-14T01:53:33.083Z,1628906013.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:53:33.449Z,1628906013.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:53:33.449Z,1628906013.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:53:33.449Z,1628906013.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:53:33.450Z,1628906013.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:53:33.849Z,1628906013.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0080E,189,80,80,7E,FF
2021-08-14T01:53:33.849Z,1628906013.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:53:33.850Z,1628906013.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:53:33.851Z,1628906013.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:53:34.256Z,1628906014.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:53:34.661Z,1628906014.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2F,000,00804,188,80,80,86,FF
2021-08-14T01:53:34.662Z,1628906014.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:53:35.107Z,1628906015.107 [Micromodem](INFO): Nmea in: $SNTTA,0.062159,,,,015333.93*44

2021-08-14T01:53:35.131Z,1628906015.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.620003 m, bearing: 353.914940 deg, deltaT: 4.501579 s, approachRate: -0.133286 m/s, LOS rate: 24.247291 deg/s, posRepo size: 4
2021-08-14T01:53:35.132Z,1628906015.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.247291 deg/s. Setting heading cmd to target bearing of 353.914940deg and heading rate command to 0 deg/s.
2021-08-14T01:53:37.575Z,1628906017.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:53:37.909Z,1628906017.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:53:37.909Z,1628906017.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:53:37.909Z,1628906017.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:53:37.910Z,1628906017.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:53:38.313Z,1628906018.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2F,000,00804,188,80,80,86,FF
2021-08-14T01:53:38.313Z,1628906018.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:53:38.314Z,1628906018.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:53:38.316Z,1628906018.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:53:38.825Z,1628906018.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:53:39.213Z,1628906019.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00807,189,80,80,9E,FF
2021-08-14T01:53:39.214Z,1628906019.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:53:39.626Z,1628906019.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015338.40*56

2021-08-14T01:53:39.646Z,1628906019.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.800003 m, bearing: 270.075215 deg, deltaT: 4.516573 s, approachRate: 0.039853 m/s, LOS rate: -18.562685 deg/s, posRepo size: 4
2021-08-14T01:53:39.647Z,1628906019.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.562685 deg/s. Setting heading cmd to target bearing of 270.075215deg and heading rate command to 0 deg/s.
2021-08-14T01:53:41.849Z,1628906021.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:53:42.222Z,1628906022.222 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:53:42.222Z,1628906022.222 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:53:42.222Z,1628906022.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:53:42.223Z,1628906022.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:53:42.609Z,1628906022.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00807,189,80,80,9E,FF
2021-08-14T01:53:42.609Z,1628906022.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:53:42.610Z,1628906022.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:53:42.611Z,1628906022.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:53:43.012Z,1628906023.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:53:43.405Z,1628906023.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,477,000,00818,18A,80,80,9C,FF
2021-08-14T01:53:43.406Z,1628906023.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:53:43.853Z,1628906023.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015342.69*50

2021-08-14T01:53:43.890Z,1628906023.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.820000 m, bearing: 290.795167 deg, deltaT: 4.147144 s, approachRate: 0.245952 m/s, LOS rate: 4.996198 deg/s, posRepo size: 4
2021-08-14T01:53:43.892Z,1628906023.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.820000 m,
      bearing: 290.795167 deg,
      approachRate: 0.245952 m/s,
      LOS rate: 4.996198 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 270.075215 deg,
      new cmd heading: 270.075215 deg.

2021-08-14T01:53:46.262Z,1628906026.262 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T01:53:46.305Z,1628906026.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:53:46.646Z,1628906026.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:53:46.646Z,1628906026.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:53:46.646Z,1628906026.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:53:46.647Z,1628906026.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:53:47.053Z,1628906027.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
477,000,00818,18A,80,80,9C,FF
2021-08-14T01:53:47.053Z,1628906027.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:53:47.053Z,1628906027.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:53:47.055Z,1628906027.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:53:47.452Z,1628906027.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:53:47.865Z,1628906027.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F7,000,0082C,189,80,80,83,FF
2021-08-14T01:53:47.866Z,1628906027.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:53:48.309Z,1628906028.309 [Micromodem](INFO): Nmea in: $SNTTA,0.058198,,,,015347.14*4C

2021-08-14T01:53:48.355Z,1628906028.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.019997 m, bearing: 303.433066 deg, deltaT: 4.454711 s, approachRate: 0.269377 m/s, LOS rate: 2.836974 deg/s, posRepo size: 4
2021-08-14T01:53:48.357Z,1628906028.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.019997 m,
      bearing: 303.433066 deg,
      approachRate: 0.269377 m/s,
      LOS rate: 2.836974 deg/s,
      cmd update: 8.510922 deg/s,
      cmd heading: 323.576520 deg,
      new cmd heading: 329.118840 deg.

2021-08-14T01:53:50.776Z,1628906030.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:53:51.164Z,1628906031.164 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:53:51.164Z,1628906031.164 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:53:51.164Z,1628906031.164 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:53:51.165Z,1628906031.165 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:53:51.497Z,1628906031.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F7,000,0082C,189,80,80,83,FF
2021-08-14T01:53:51.497Z,1628906031.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:53:51.497Z,1628906031.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:53:51.499Z,1628906031.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:53:51.924Z,1628906031.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:53:51.944Z,1628906031.944 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T01:53:52.314Z,1628906032.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,490,000,00832,189,80,80,A0,FF
2021-08-14T01:53:52.314Z,1628906032.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:53:52.749Z,1628906032.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015351.58*50

2021-08-14T01:53:52.832Z,1628906032.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.380005 m, bearing: 266.484584 deg, deltaT: 4.480029 s, approachRate: 0.080358 m/s, LOS rate: -8.247376 deg/s, posRepo size: 4
2021-08-14T01:53:52.834Z,1628906032.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.380005 m,
      bearing: 266.484584 deg,
      approachRate: 0.080358 m/s,
      LOS rate: -8.247376 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 1.635840 deg,
      new cmd heading: 5.579886 deg.

2021-08-14T01:53:55.165Z,1628906035.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:53:55.533Z,1628906035.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:53:55.533Z,1628906035.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:53:55.533Z,1628906035.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:53:55.534Z,1628906035.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:53:55.953Z,1628906035.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
490,000,00832,189,80,80,A0,FF
2021-08-14T01:53:55.953Z,1628906035.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:53:55.953Z,1628906035.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:53:55.955Z,1628906035.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:53:56.377Z,1628906036.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:53:56.793Z,1628906036.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0083C,189,80,80,A3,FF
2021-08-14T01:53:56.794Z,1628906036.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:53:57.218Z,1628906037.218 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015356.03*59

2021-08-14T01:53:57.261Z,1628906037.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.980003 m, bearing: 263.206722 deg, deltaT: 4.498712 s, approachRate: 0.133371 m/s, LOS rate: -0.728622 deg/s, posRepo size: 4
2021-08-14T01:53:57.263Z,1628906037.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.980003 m,
      bearing: 263.206722 deg,
      approachRate: 0.133371 m/s,
      LOS rate: -0.728622 deg/s,
      cmd update: -2.185867 deg/s,
      cmd heading: 307.548803 deg,
      new cmd heading: 303.022403 deg.

2021-08-14T01:53:59.626Z,1628906039.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:54:00.024Z,1628906040.024 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:54:00.024Z,1628906040.024 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:54:00.025Z,1628906040.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:54:00.026Z,1628906040.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:54:00.412Z,1628906040.412 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0083C,189,80,80,A3,FF
2021-08-14T01:54:00.413Z,1628906040.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:54:00.413Z,1628906040.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:54:00.419Z,1628906040.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:54:00.826Z,1628906040.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:54:01.217Z,1628906041.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4CC,000,00849,188,80,80,B3,FF
2021-08-14T01:54:01.218Z,1628906041.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:54:01.666Z,1628906041.666 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015400.50*5B

2021-08-14T01:54:01.687Z,1628906041.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.760002 m, bearing: 278.183250 deg, deltaT: 4.366150 s, approachRate: 0.178647 m/s, LOS rate: 3.430145 deg/s, posRepo size: 4
2021-08-14T01:54:01.690Z,1628906041.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.760002 m,
      bearing: 278.183250 deg,
      approachRate: 0.178647 m/s,
      LOS rate: 3.430145 deg/s,
      cmd update: 10.290436 deg/s,
      cmd heading: 298.013632 deg,
      new cmd heading: 297.022488 deg.

2021-08-14T01:54:04.093Z,1628906044.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:54:04.565Z,1628906044.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:54:04.565Z,1628906044.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:54:04.565Z,1628906044.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:54:04.566Z,1628906044.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:54:04.866Z,1628906044.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4CC,000,00849,188,80,80,B3,FF
2021-08-14T01:54:04.866Z,1628906044.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:54:04.867Z,1628906044.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:54:04.869Z,1628906044.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:54:05.269Z,1628906045.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:54:05.725Z,1628906045.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00860,183,80,80,97,FF
2021-08-14T01:54:05.726Z,1628906045.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:54:06.085Z,1628906046.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015404.95*56

2021-08-14T01:54:06.129Z,1628906046.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.139999 m, bearing: 326.382693 deg, deltaT: 4.563295 s, approachRate: 0.302412 m/s, LOS rate: 10.562421 deg/s, posRepo size: 4
2021-08-14T01:54:06.131Z,1628906046.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.139999 m,
      bearing: 326.382693 deg,
      approachRate: 0.302412 m/s,
      LOS rate: 10.562421 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 344.882594 deg,
      new cmd heading: 348.337227 deg.

2021-08-14T01:54:08.565Z,1628906048.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:54:08.889Z,1628906048.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:54:08.889Z,1628906048.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:54:08.889Z,1628906048.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:54:08.890Z,1628906048.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:54:09.290Z,1628906049.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,00860,183,80,80,97,FF
2021-08-14T01:54:09.291Z,1628906049.291 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:54:09.291Z,1628906049.291 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:54:09.293Z,1628906049.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:54:09.734Z,1628906049.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:54:10.109Z,1628906050.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,00868,186,80,80,7E,FF
2021-08-14T01:54:10.110Z,1628906050.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:54:10.550Z,1628906050.550 [Micromodem](INFO): Nmea in: $SNTTA,0.070358,,,,015409.37*44

2021-08-14T01:54:10.623Z,1628906050.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.620003 m, bearing: 319.147583 deg, deltaT: 4.353925 s, approachRate: 0.110246 m/s, LOS rate: -1.661744 deg/s, posRepo size: 4
2021-08-14T01:54:10.630Z,1628906050.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.620003 m,
      bearing: 319.147583 deg,
      approachRate: 0.110246 m/s,
      LOS rate: -1.661744 deg/s,
      cmd update: -4.985233 deg/s,
      cmd heading: 36.991083 deg,
      new cmd heading: 42.899248 deg.

2021-08-14T01:54:13.015Z,1628906053.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:54:13.353Z,1628906053.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:54:13.354Z,1628906053.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:54:13.354Z,1628906053.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:54:13.355Z,1628906053.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:54:13.774Z,1628906053.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,00868,186,80,80,7E,FF
2021-08-14T01:54:13.774Z,1628906053.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:54:13.774Z,1628906053.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:54:13.777Z,1628906053.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:54:14.152Z,1628906054.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:54:14.561Z,1628906054.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,0087D,188,80,80,C3,FF
2021-08-14T01:54:14.562Z,1628906054.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:54:14.982Z,1628906054.982 [Micromodem](INFO): Nmea in: $SNTTA,0.090679,,,,015413.86*4D

2021-08-14T01:54:15.019Z,1628906055.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.880005 m, bearing: 302.216364 deg, deltaT: 4.494264 s, approachRate: 0.280358 m/s, LOS rate: -3.767295 deg/s, posRepo size: 4
2021-08-14T01:54:15.030Z,1628906055.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.880005 m,
      bearing: 302.216364 deg,
      approachRate: 0.280358 m/s,
      LOS rate: -3.767295 deg/s,
      cmd update: -11.301887 deg/s,
      cmd heading: 14.507548 deg,
      new cmd heading: 12.623753 deg.

2021-08-14T01:54:15.853Z,1628906055.853 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T01:54:17.418Z,1628906057.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:54:17.869Z,1628906057.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:54:17.869Z,1628906057.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:54:17.870Z,1628906057.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:54:17.871Z,1628906057.871 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:54:18.201Z,1628906058.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,0087D,188,80,80,C3,FF
2021-08-14T01:54:18.201Z,1628906058.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:54:18.201Z,1628906058.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:54:18.203Z,1628906058.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:54:18.605Z,1628906058.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:54:19.013Z,1628906059.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,0089C,189,80,80,AB,FF
2021-08-14T01:54:19.013Z,1628906059.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:54:19.430Z,1628906059.430 [Micromodem](INFO): Nmea in: $SNTTA,0.098558,,,,015418.28*4A

2021-08-14T01:54:19.453Z,1628906059.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.740005 m, bearing: 328.467485 deg, deltaT: 4.390404 s, approachRate: 0.423651 m/s, LOS rate: 5.979204 deg/s, posRepo size: 4
2021-08-14T01:54:19.456Z,1628906059.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.740005 m,
      bearing: 328.467485 deg,
      approachRate: 0.423651 m/s,
      LOS rate: 5.979204 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 324.792142 deg,
      new cmd heading: 320.135426 deg.

2021-08-14T01:54:21.865Z,1628906061.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:54:22.233Z,1628906062.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:54:22.234Z,1628906062.234 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:54:22.235Z,1628906062.235 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:54:22.251Z,1628906062.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:54:22.634Z,1628906062.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,0089C,189,80,80,AB,FF
2021-08-14T01:54:22.634Z,1628906062.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:54:22.634Z,1628906062.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:54:22.636Z,1628906062.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:54:23.118Z,1628906063.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:54:23.510Z,1628906063.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AA,000,008C6,189,80,80,BC,FF
2021-08-14T01:54:23.511Z,1628906063.511 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:54:23.925Z,1628906063.925 [Micromodem](INFO): Nmea in: $SNTTA,0.223389,,,,015422.72*44

2021-08-14T01:54:23.962Z,1628906063.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.260002 m, bearing: 321.458564 deg, deltaT: 4.531953 s, approachRate: 0.556051 m/s, LOS rate: -1.546557 deg/s, posRepo size: 4
2021-08-14T01:54:23.964Z,1628906063.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.260002 m,
      bearing: 321.458564 deg,
      approachRate: 0.556051 m/s,
      LOS rate: -1.546557 deg/s,
      cmd update: -4.639670 deg/s,
      cmd heading: 19.127040 deg,
      new cmd heading: 23.857764 deg.

2021-08-14T01:54:26.391Z,1628906066.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:54:26.746Z,1628906066.746 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:54:26.746Z,1628906066.746 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:54:26.747Z,1628906066.747 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:54:26.749Z,1628906066.749 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:54:27.153Z,1628906067.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AA,000,008C6,189,80,80,BC,FF
2021-08-14T01:54:27.153Z,1628906067.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:54:27.154Z,1628906067.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:54:27.155Z,1628906067.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:54:27.544Z,1628906067.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:54:27.957Z,1628906067.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,008E7,189,80,80,B4,FF
2021-08-14T01:54:27.958Z,1628906067.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:54:28.417Z,1628906068.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015427.23*5A

2021-08-14T01:54:28.506Z,1628906068.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.239998 m, bearing: 311.166425 deg, deltaT: 4.412408 s, approachRate: 0.448734 m/s, LOS rate: -2.332545 deg/s, posRepo size: 4
2021-08-14T01:54:28.508Z,1628906068.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.239998 m,
      bearing: 311.166425 deg,
      approachRate: 0.448734 m/s,
      LOS rate: -2.332545 deg/s,
      cmd update: -6.997634 deg/s,
      cmd heading: 358.636175 deg,
      new cmd heading: 356.223524 deg.

2021-08-14T01:54:30.899Z,1628906070.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:54:31.252Z,1628906071.252 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:54:31.252Z,1628906071.252 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:54:31.252Z,1628906071.252 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:54:31.253Z,1628906071.253 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:54:31.594Z,1628906071.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,008E7,189,80,80,B4,FF
2021-08-14T01:54:31.595Z,1628906071.595 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:54:31.595Z,1628906071.595 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:54:31.597Z,1628906071.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:54:32.005Z,1628906072.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:54:32.433Z,1628906072.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,00910,188,80,80,9E,FF
2021-08-14T01:54:32.435Z,1628906072.435 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:54:32.834Z,1628906072.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015431.68*52

2021-08-14T01:54:32.859Z,1628906072.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.699997 m, bearing: 325.391988 deg, deltaT: 4.573683 s, approachRate: 0.537860 m/s, LOS rate: 3.110308 deg/s, posRepo size: 4
2021-08-14T01:54:32.862Z,1628906072.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.699997 m,
      bearing: 325.391988 deg,
      approachRate: 0.537860 m/s,
      LOS rate: 3.110308 deg/s,
      cmd update: 9.330925 deg/s,
      cmd heading: 326.659669 deg,
      new cmd heading: 324.520962 deg.

2021-08-14T01:54:35.239Z,1628906075.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:54:35.625Z,1628906075.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:54:35.625Z,1628906075.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:54:35.625Z,1628906075.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:54:35.626Z,1628906075.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:54:36.038Z,1628906076.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,00910,188,80,80,9E,FF
2021-08-14T01:54:36.038Z,1628906076.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:54:36.038Z,1628906076.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:54:36.039Z,1628906076.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:54:36.469Z,1628906076.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:54:36.847Z,1628906076.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CF,000,0093B,189,80,80,88,FF
2021-08-14T01:54:36.847Z,1628906076.847 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:54:37.285Z,1628906077.285 [Micromodem](INFO): Nmea in: $SNTTA,0.084669,,,,015436.12*43

2021-08-14T01:54:37.342Z,1628906077.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.280006 m, bearing: 304.421395 deg, deltaT: 4.316611 s, approachRate: 0.597693 m/s, LOS rate: -4.858115 deg/s, posRepo size: 4
2021-08-14T01:54:37.350Z,1628906077.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.280006 m,
      bearing: 304.421395 deg,
      approachRate: 0.597693 m/s,
      LOS rate: -4.858115 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 6.973547 deg,
      new cmd heading: 11.291665 deg.

2021-08-14T01:54:39.714Z,1628906079.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:54:40.073Z,1628906080.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:54:40.073Z,1628906080.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:54:40.073Z,1628906080.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:54:40.074Z,1628906080.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:54:40.521Z,1628906080.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CF,000,0093B,189,80,80,88,FF
2021-08-14T01:54:40.521Z,1628906080.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:54:40.522Z,1628906080.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:54:40.523Z,1628906080.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:54:40.888Z,1628906080.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:54:41.285Z,1628906081.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F7,000,00962,188,80,80,93,FF
2021-08-14T01:54:41.285Z,1628906081.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:54:41.721Z,1628906081.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015440.60*5C

2021-08-14T01:54:41.774Z,1628906081.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.619995 m, bearing: 307.823621 deg, deltaT: 4.503167 s, approachRate: 0.519632 m/s, LOS rate: 0.755519 deg/s, posRepo size: 4
2021-08-14T01:54:41.775Z,1628906081.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.619995 m,
      bearing: 307.823621 deg,
      approachRate: 0.519632 m/s,
      LOS rate: 0.755519 deg/s,
      cmd update: 2.266556 deg/s,
      cmd heading: 313.113765 deg,
      new cmd heading: 308.182713 deg.

2021-08-14T01:54:44.165Z,1628906084.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:54:44.529Z,1628906084.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:54:44.529Z,1628906084.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:54:44.529Z,1628906084.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:54:44.530Z,1628906084.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:54:44.985Z,1628906084.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F7,000,00962,188,80,80,93,FF
2021-08-14T01:54:44.985Z,1628906084.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:54:44.985Z,1628906084.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:54:44.987Z,1628906084.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:54:45.354Z,1628906085.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:54:45.745Z,1628906085.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,217,000,0098A,187,80,80,A6,FF
2021-08-14T01:54:45.746Z,1628906085.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:54:46.159Z,1628906086.159 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015445.07*58

2021-08-14T01:54:46.202Z,1628906086.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.020004 m, bearing: 330.262869 deg, deltaT: 4.416665 s, approachRate: 0.543398 m/s, LOS rate: 5.080586 deg/s, posRepo size: 4
2021-08-14T01:54:46.208Z,1628906086.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.020004 m,
      bearing: 330.262869 deg,
      approachRate: 0.543398 m/s,
      LOS rate: 5.080586 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 323.158182 deg,
      new cmd heading: 324.082404 deg.

2021-08-14T01:54:48.606Z,1628906088.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:54:48.969Z,1628906088.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:54:48.969Z,1628906088.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:54:48.969Z,1628906088.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:54:48.970Z,1628906088.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:54:49.369Z,1628906089.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
217,000,0098A,187,80,80,A6,FF
2021-08-14T01:54:49.369Z,1628906089.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:54:49.369Z,1628906089.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:54:49.371Z,1628906089.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:54:49.800Z,1628906089.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:54:50.169Z,1628906090.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A6,000,009B2,189,80,80,82,FF
2021-08-14T01:54:50.169Z,1628906090.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:54:50.617Z,1628906090.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015449.45*52

2021-08-14T01:54:50.830Z,1628906090.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.419998 m, bearing: 300.560808 deg, deltaT: 4.391527 s, approachRate: 0.546506 m/s, LOS rate: -6.763493 deg/s, posRepo size: 4
2021-08-14T01:54:50.832Z,1628906090.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.419998 m,
      bearing: 300.560808 deg,
      approachRate: 0.546506 m/s,
      LOS rate: -6.763493 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 15.858524 deg,
      new cmd heading: 23.588072 deg.

2021-08-14T01:54:53.015Z,1628906093.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:54:53.402Z,1628906093.402 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:54:53.402Z,1628906093.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:54:53.402Z,1628906093.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:54:53.403Z,1628906093.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:54:53.805Z,1628906093.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A6,000,009B2,189,80,80,82,FF
2021-08-14T01:54:53.805Z,1628906093.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:54:53.805Z,1628906093.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:54:53.807Z,1628906093.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:54:54.264Z,1628906094.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:54:54.661Z,1628906094.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23A,000,009DA,188,80,80,C4,FF
2021-08-14T01:54:54.662Z,1628906094.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:54:55.082Z,1628906095.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015453.89*59

2021-08-14T01:54:55.103Z,1628906095.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.820000 m, bearing: 322.913995 deg, deltaT: 4.610378 s, approachRate: 0.520565 m/s, LOS rate: 4.848450 deg/s, posRepo size: 4
2021-08-14T01:54:55.105Z,1628906095.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.820000 m,
      bearing: 322.913995 deg,
      approachRate: 0.520565 m/s,
      LOS rate: 4.848450 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 320.534286 deg,
      new cmd heading: 316.850442 deg.

2021-08-14T01:54:57.515Z,1628906097.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:54:57.885Z,1628906097.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:54:57.885Z,1628906097.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:54:57.885Z,1628906097.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:54:57.886Z,1628906097.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:54:58.361Z,1628906098.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23A,000,009DA,188,80,80,C4,FF
2021-08-14T01:54:58.361Z,1628906098.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:54:58.361Z,1628906098.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:54:58.363Z,1628906098.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:54:58.741Z,1628906098.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:54:59.118Z,1628906099.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2D,000,00A0A,187,80,80,C4,FF
2021-08-14T01:54:59.118Z,1628906099.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:54:59.570Z,1628906099.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.699997 m, bearing: 12.493429 deg, deltaT: 4.343080 s, approachRate: 0.663123 m/s, LOS rate: 11.415731 deg/s, posRepo size: 4
2021-08-14T01:54:59.573Z,1628906099.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.699997 m,
      bearing: 12.493429 deg,
      approachRate: 0.663123 m/s,
      LOS rate: 11.415731 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 12.649903 deg,
      new cmd heading: 17.823787 deg.

2021-08-14T01:54:59.921Z,1628906099.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015458.45*52

2021-08-14T01:55:01.965Z,1628906101.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:55:02.341Z,1628906102.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:55:02.342Z,1628906102.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:55:02.342Z,1628906102.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:55:02.343Z,1628906102.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:55:02.753Z,1628906102.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2D,000,00A0A,187,80,80,C4,FF
2021-08-14T01:55:02.753Z,1628906102.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:55:02.753Z,1628906102.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:55:02.755Z,1628906102.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:55:03.140Z,1628906103.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:55:03.569Z,1628906103.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,385,000,00A3B,189,80,80,AA,FF
2021-08-14T01:55:03.569Z,1628906103.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:55:03.961Z,1628906103.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015502.84*51

2021-08-14T01:55:04.003Z,1628906104.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.639999 m, bearing: 309.465517 deg, deltaT: 4.445908 s, approachRate: 0.661283 m/s, LOS rate: -14.176612 deg/s, posRepo size: 4
2021-08-14T01:55:04.008Z,1628906104.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.176612 deg/s. Setting heading cmd to target bearing of 309.465517deg and heading rate command to 0 deg/s.
2021-08-14T01:55:06.419Z,1628906106.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:55:06.789Z,1628906106.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:55:06.789Z,1628906106.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:55:06.789Z,1628906106.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:55:06.790Z,1628906106.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:55:07.181Z,1628906107.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
385,000,00A3B,189,80,80,AA,FF
2021-08-14T01:55:07.181Z,1628906107.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:55:07.181Z,1628906107.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:55:07.183Z,1628906107.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:55:07.588Z,1628906107.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:55:07.993Z,1628906107.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAF,000,00A6A,189,80,80,8B,FF
2021-08-14T01:55:07.994Z,1628906107.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:55:08.442Z,1628906108.442 [Micromodem](INFO): Nmea in: $SNTTA,0.086863,,,,015507.27*40

2021-08-14T01:55:08.492Z,1628906108.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.460007 m, bearing: 36.589419 deg, deltaT: 4.435503 s, approachRate: 0.635781 m/s, LOS rate: 19.642391 deg/s, posRepo size: 4
2021-08-14T01:55:08.493Z,1628906108.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.642391 deg/s. Setting heading cmd to target bearing of 36.589419deg and heading rate command to 0 deg/s.
2021-08-14T01:55:10.879Z,1628906110.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:55:11.221Z,1628906111.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:55:11.221Z,1628906111.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:55:11.222Z,1628906111.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:55:11.223Z,1628906111.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:55:11.697Z,1628906111.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAF,000,00A6A,189,80,80,8B,FF
2021-08-14T01:55:11.697Z,1628906111.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:55:11.697Z,1628906111.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:55:11.699Z,1628906111.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:55:12.104Z,1628906112.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:55:12.905Z,1628906112.905 [Micromodem](INFO): Nmea in: $SNTTA,0.089603,,,,015511.78*4A

2021-08-14T01:55:13.801Z,1628906113.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:55:15.297Z,1628906115.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,189,80,80,8B,FF
2021-08-14T01:55:15.297Z,1628906115.297 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,189,80,80,8B,FF
2021-08-14T01:55:15.297Z,1628906115.297 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:55:16.571Z,1628906116.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:55:16.913Z,1628906116.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:55:16.913Z,1628906116.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:55:16.913Z,1628906116.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:55:16.914Z,1628906116.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:55:17.354Z,1628906117.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,189,80,80,8B,FF
2021-08-14T01:55:17.354Z,1628906117.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:55:17.354Z,1628906117.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:55:17.356Z,1628906117.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:55:17.757Z,1628906117.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:55:18.130Z,1628906118.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0D,000,00AE0,186,80,80,8B,FF
2021-08-14T01:55:18.131Z,1628906118.131 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:55:18.545Z,1628906118.545 [Micromodem](INFO): Nmea in: $SNTTA,0.439493,0.439499,,,015517.44*53

2021-08-14T01:55:18.609Z,1628906118.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.539993 m, bearing: 51.730842 deg, deltaT: 10.129564 s, approachRate: 0.698943 m/s, LOS rate: 1.494775 deg/s, posRepo size: 4
2021-08-14T01:55:18.611Z,1628906118.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.539993 m,
      bearing: 51.730842 deg,
      approachRate: 0.698943 m/s,
      LOS rate: 1.494775 deg/s,
      cmd update: 4.484326 deg/s,
      cmd heading: 36.589419 deg,
      new cmd heading: 36.589419 deg.

2021-08-14T01:55:21.013Z,1628906121.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:55:21.365Z,1628906121.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:55:21.365Z,1628906121.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:55:21.365Z,1628906121.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:55:21.366Z,1628906121.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:55:21.793Z,1628906121.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0D,000,00AE0,186,80,80,8B,FF
2021-08-14T01:55:21.793Z,1628906121.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:55:21.794Z,1628906121.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:55:21.795Z,1628906121.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:55:22.172Z,1628906122.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:55:22.593Z,1628906122.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,00B15,185,80,80,84,FF
2021-08-14T01:55:22.593Z,1628906122.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:55:22.991Z,1628906122.991 [Micromodem](INFO): Nmea in: $SNTTA,0.262162,,,,015521.88*41

2021-08-14T01:55:23.034Z,1628906123.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.720001 m, bearing: 32.974084 deg, deltaT: 4.500277 s, approachRate: 0.706625 m/s, LOS rate: -4.167912 deg/s, posRepo size: 4
2021-08-14T01:55:23.036Z,1628906123.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.720001 m,
      bearing: 32.974084 deg,
      approachRate: 0.706625 m/s,
      LOS rate: -4.167912 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 56.752644 deg,
      new cmd heading: 58.490801 deg.

2021-08-14T01:55:25.434Z,1628906125.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:55:25.813Z,1628906125.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:55:25.813Z,1628906125.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:55:25.813Z,1628906125.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:55:25.814Z,1628906125.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:55:26.225Z,1628906126.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,00B15,185,80,80,84,FF
2021-08-14T01:55:26.225Z,1628906126.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:55:26.225Z,1628906126.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:55:26.227Z,1628906126.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:55:26.626Z,1628906126.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:55:27.022Z,1628906127.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,00B46,187,80,80,50,FF
2021-08-14T01:55:27.022Z,1628906127.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:55:27.525Z,1628906127.525 [Micromodem](INFO): Nmea in: $SNTTA,0.097538,,,,015526.31*47

2021-08-14T01:55:27.544Z,1628906127.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.660004 m, bearing: 69.420765 deg, deltaT: 4.424113 s, approachRate: 0.664541 m/s, LOS rate: 8.238190 deg/s, posRepo size: 4
2021-08-14T01:55:27.546Z,1628906127.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.660004 m,
      bearing: 69.420765 deg,
      approachRate: 0.664541 m/s,
      LOS rate: 8.238190 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 3.614603 deg,
      new cmd heading: 357.981875 deg.

2021-08-14T01:55:29.889Z,1628906129.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:55:30.249Z,1628906130.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:55:30.249Z,1628906130.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:55:30.249Z,1628906130.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:55:30.250Z,1628906130.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:55:30.668Z,1628906130.668 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,00B46,187,80,80,50,FF
2021-08-14T01:55:30.669Z,1628906130.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:55:30.669Z,1628906130.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:55:30.670Z,1628906130.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:55:31.064Z,1628906131.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:55:31.481Z,1628906131.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,00B78,186,80,80,93,FF
2021-08-14T01:55:31.481Z,1628906131.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:55:31.905Z,1628906131.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015530.75*5E

2021-08-14T01:55:31.951Z,1628906131.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.660004 m, bearing: 60.667796 deg, deltaT: 4.423439 s, approachRate: 0.678205 m/s, LOS rate: -1.978770 deg/s, posRepo size: 4
2021-08-14T01:55:31.959Z,1628906131.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.660004 m,
      bearing: 60.667796 deg,
      approachRate: 0.678205 m/s,
      LOS rate: -1.978770 deg/s,
      cmd update: -5.936311 deg/s,
      cmd heading: 56.693833 deg,
      new cmd heading: 62.127589 deg.

2021-08-14T01:55:34.307Z,1628906134.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:55:34.698Z,1628906134.698 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:55:34.698Z,1628906134.698 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:55:34.698Z,1628906134.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:55:34.699Z,1628906134.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:55:35.106Z,1628906135.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,00B78,186,80,80,93,FF
2021-08-14T01:55:35.106Z,1628906135.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:55:35.106Z,1628906135.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:55:35.107Z,1628906135.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:55:35.500Z,1628906135.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:55:35.909Z,1628906135.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,00BA8,186,80,80,92,FF
2021-08-14T01:55:35.910Z,1628906135.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:55:36.346Z,1628906136.346 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015535.19*51

2021-08-14T01:55:36.377Z,1628906136.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.540009 m, bearing: 51.580748 deg, deltaT: 4.479174 s, approachRate: 0.642977 m/s, LOS rate: -2.028733 deg/s, posRepo size: 4
2021-08-14T01:55:36.379Z,1628906136.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.540009 m,
      bearing: 51.580748 deg,
      approachRate: 0.642977 m/s,
      LOS rate: -2.028733 deg/s,
      cmd update: -6.086199 deg/s,
      cmd heading: 30.152563 deg,
      new cmd heading: 27.733333 deg.

2021-08-14T01:55:38.825Z,1628906138.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:55:39.133Z,1628906139.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:55:39.133Z,1628906139.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:55:39.133Z,1628906139.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:55:39.134Z,1628906139.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:55:39.545Z,1628906139.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,00BA8,186,80,80,92,FF
2021-08-14T01:55:39.545Z,1628906139.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:55:39.545Z,1628906139.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:55:39.547Z,1628906139.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:55:40.010Z,1628906140.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:55:40.330Z,1628906140.330 [BPC1](ERROR): Battery stick #22 (s/n: 013F) reported OVER_TEMP_ALARM. Status code: 0x1717.
2021-08-14T01:55:40.331Z,1628906140.331 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2021-08-14T01:55:40.351Z,1628906140.351 [BPC1](INFO): Received data from all battery sticks.
2021-08-14T01:55:40.390Z,1628906140.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,00BE0,186,80,80,8B,FF
2021-08-14T01:55:40.391Z,1628906140.391 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:55:40.807Z,1628906140.807 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015539.63*50

2021-08-14T01:55:40.877Z,1628906140.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.900009 m, bearing: 63.958670 deg, deltaT: 4.518593 s, approachRate: 0.743594 m/s, LOS rate: 2.739331 deg/s, posRepo size: 4
2021-08-14T01:55:40.879Z,1628906140.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.900009 m,
      bearing: 63.958670 deg,
      approachRate: 0.743594 m/s,
      LOS rate: 2.739331 deg/s,
      cmd update: 8.217992 deg/s,
      cmd heading: 2.624911 deg,
      new cmd heading: 0.284190 deg.

2021-08-14T01:55:43.220Z,1628906143.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:55:43.583Z,1628906143.583 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:55:43.584Z,1628906143.584 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:55:43.584Z,1628906143.584 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:55:43.585Z,1628906143.585 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:55:44.001Z,1628906144.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,00BE0,186,80,80,8B,FF
2021-08-14T01:55:44.002Z,1628906144.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:55:44.002Z,1628906144.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:55:44.004Z,1628906144.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:55:44.395Z,1628906144.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:55:44.809Z,1628906144.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CB,000,00C55,186,80,80,8B,FF
2021-08-14T01:55:44.809Z,1628906144.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:55:44.813Z,1628906144.813 [Micromodem](INFO): Nmea in: $SNTTA,0.157294,0.157456,,,015544.08*5F

2021-08-14T01:55:45.235Z,1628906145.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.919998 m, bearing: 16.167244 deg, deltaT: 4.407265 s, approachRate: 1.592822 m/s, LOS rate: -10.843783 deg/s, posRepo size: 4
2021-08-14T01:55:45.238Z,1628906145.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.919998 m,
      bearing: 16.167244 deg,
      approachRate: 1.592822 m/s,
      LOS rate: -10.843783 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 38.791778 deg,
      new cmd heading: 41.606925 deg.

2021-08-14T01:55:47.638Z,1628906147.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:55:48.041Z,1628906148.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:55:48.041Z,1628906148.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:55:48.041Z,1628906148.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:55:48.042Z,1628906148.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:55:48.461Z,1628906148.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CB,000,00C55,186,80,80,8B,FF
2021-08-14T01:55:48.461Z,1628906148.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:55:48.461Z,1628906148.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:55:48.470Z,1628906148.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:55:48.844Z,1628906148.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:55:49.238Z,1628906149.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CB,000,00C55,186,80,80,8B,FF
2021-08-14T01:55:49.238Z,1628906149.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:55:49.681Z,1628906149.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015548.55*53

2021-08-14T01:55:49.761Z,1628906149.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.919998 m, bearing: 10.440789 deg, deltaT: 4.358332 s, approachRate: 0.000000 m/s, LOS rate: -1.313910 deg/s, posRepo size: 4
2021-08-14T01:55:49.763Z,1628906149.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.919998 m,
      bearing: 10.440789 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.313910 deg/s,
      cmd update: -3.941729 deg/s,
      cmd heading: 346.390033 deg,
      new cmd heading: 340.427748 deg.

2021-08-14T01:55:52.118Z,1628906152.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:55:52.512Z,1628906152.512 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:55:52.512Z,1628906152.512 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:55:52.513Z,1628906152.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:55:52.513Z,1628906152.513 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:55:52.887Z,1628906152.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CB,000,00C55,186,80,80,8B,FF
2021-08-14T01:55:52.887Z,1628906152.887 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:55:52.887Z,1628906152.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:55:52.889Z,1628906152.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:55:53.277Z,1628906153.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:55:53.682Z,1628906153.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00C7D,186,80,80,8B,FF
2021-08-14T01:55:53.683Z,1628906153.683 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:55:54.109Z,1628906154.109 [Micromodem](INFO): Nmea in: $SNTTA,0.104816,,,,015552.97*42

2021-08-14T01:55:54.158Z,1628906154.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.320007 m, bearing: 32.172209 deg, deltaT: 4.492876 s, approachRate: 0.534181 m/s, LOS rate: 4.836862 deg/s, posRepo size: 4
2021-08-14T01:55:54.161Z,1628906154.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.320007 m,
      bearing: 32.172209 deg,
      approachRate: 0.534181 m/s,
      LOS rate: 4.836862 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 328.689109 deg,
      new cmd heading: 327.080813 deg.

2021-08-14T01:55:56.561Z,1628906156.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:55:56.917Z,1628906156.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:55:56.925Z,1628906156.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:55:56.926Z,1628906156.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:55:56.927Z,1628906156.927 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:55:57.345Z,1628906157.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00C7D,186,80,80,8B,FF
2021-08-14T01:55:57.345Z,1628906157.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:55:57.345Z,1628906157.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:55:57.352Z,1628906157.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:55:57.759Z,1628906157.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:55:58.530Z,1628906158.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26A,000,00CB5,189,80,80,6D,FF
2021-08-14T01:55:58.530Z,1628906158.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:55:58.981Z,1628906158.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.679993 m, bearing: 346.335861 deg, deltaT: 4.855977 s, approachRate: 0.691928 m/s, LOS rate: -9.439162 deg/s, posRepo size: 4
2021-08-14T01:55:58.983Z,1628906158.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.679993 m,
      bearing: 346.335861 deg,
      approachRate: 0.691928 m/s,
      LOS rate: -9.439162 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 26.912631 deg,
      new cmd heading: 31.359663 deg.

2021-08-14T01:56:01.382Z,1628906161.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:01.801Z,1628906161.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:56:01.801Z,1628906161.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:56:01.801Z,1628906161.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:56:01.802Z,1628906161.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:56:02.161Z,1628906162.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26A,000,00CB5,189,80,80,6D,FF
2021-08-14T01:56:02.161Z,1628906162.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:56:02.161Z,1628906162.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:56:02.163Z,1628906162.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:56:04.206Z,1628906164.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:04.989Z,1628906164.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,8000,00CB5,189,80,80,6D,FF
2021-08-14T01:56:04.990Z,1628906164.990 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,8000,00CB5,189,80,80,6D,FF
2021-08-14T01:56:04.990Z,1628906164.990 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:56:07.038Z,1628906167.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:07.409Z,1628906167.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:56:07.409Z,1628906167.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:56:07.409Z,1628906167.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:56:07.410Z,1628906167.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:56:07.829Z,1628906167.829 [DUSBL_Hydroid](INFO): DUSBL response received:0,63,E4
!U1,P
00CB5,189,80,80,6D,FF
2021-08-14T01:56:07.829Z,1628906167.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:56:07.829Z,1628906167.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:56:09.873Z,1628906169.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:10.641Z,1628906170.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,07D02,186,80,80,86,FF
2021-08-14T01:56:10.642Z,1628906170.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:56:11.099Z,1628906171.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1882.619995 m, bearing: 335.192080 deg, deltaT: 12.169877 s, approachRate: 141.738480 m/s, LOS rate: -0.915686 deg/s, posRepo size: 4
2021-08-14T01:56:11.101Z,1628906171.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1882.619995 m,
      bearing: 335.192080 deg,
      approachRate: 141.738480 m/s,
      LOS rate: -0.915686 deg/s,
      cmd update: -2.747057 deg/s,
      cmd heading: 241.015752 deg,
      new cmd heading: 236.952204 deg.

2021-08-14T01:56:13.474Z,1628906173.474 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:56:13.552Z,1628906173.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:13.877Z,1628906173.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:56:13.877Z,1628906173.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:56:13.877Z,1628906173.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:56:13.878Z,1628906173.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:56:14.287Z,1628906174.287 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,07D02,186,80,80,86,FF
2021-08-14T01:56:14.287Z,1628906174.287 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:56:14.287Z,1628906174.287 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:56:16.339Z,1628906176.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:16.709Z,1628906176.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CF,000,06AD5,189,80,80,8D,FF
2021-08-14T01:56:16.710Z,1628906176.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:56:17.162Z,1628906177.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1603.440063 m, bearing: 301.488703 deg, deltaT: 6.029852 s, approachRate: -46.299633 m/s, LOS rate: -5.589420 deg/s, posRepo size: 4
2021-08-14T01:56:17.165Z,1628906177.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1603.440063 m,
      bearing: 301.488703 deg,
      approachRate: -46.299633 m/s,
      LOS rate: -5.589420 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 224.396768 deg,
      new cmd heading: 223.437263 deg.

2021-08-14T01:56:19.550Z,1628906179.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:19.948Z,1628906179.948 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:56:19.949Z,1628906179.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:56:19.949Z,1628906179.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:56:19.949Z,1628906179.949 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:56:20.342Z,1628906180.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CF,000,06AD5,189,80,80,8D,FF
2021-08-14T01:56:20.342Z,1628906180.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:56:20.342Z,1628906180.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:56:22.490Z,1628906182.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:23.173Z,1628906183.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:56:23.173Z,1628906183.173 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:56:23.173Z,1628906183.173 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:56:24.798Z,1628906184.798 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:56:24.816Z,1628906184.816 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-14T01:56:24.816Z,1628906184.816 [Micromodem] Hardware Fault, FailCount= 1
2021-08-14T01:56:24.817Z,1628906184.817 [Micromodem](ERROR): Hardware Fault
2021-08-14T01:56:24.938Z,1628906184.938 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T01:56:24.938Z,1628906184.938 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T01:56:24.938Z,1628906184.938 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T01:56:24.938Z,1628906184.938 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T01:56:24.938Z,1628906184.938 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T01:56:24.992Z,1628906184.992 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-14T01:56:25.233Z,1628906185.233 [Micromodem](INFO): Powering down
2021-08-14T01:56:25.365Z,1628906185.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:25.645Z,1628906185.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:56:25.645Z,1628906185.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:56:25.645Z,1628906185.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:56:25.646Z,1628906185.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:56:25.649Z,1628906185.649 [Micromodem](FAULT): LCB 1 fault:  Software Overcurrent.
2021-08-14T01:56:26.041Z,1628906186.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:56:26.041Z,1628906186.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:56:26.041Z,1628906186.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:56:26.169Z,1628906186.169 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-14T01:56:26.170Z,1628906186.170 [Micromodem] No Fault, FailCount= 1
2021-08-14T01:56:28.140Z,1628906188.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:28.869Z,1628906188.869 [Micromodem](INFO): Powering up
2021-08-14T01:56:28.870Z,1628906188.870 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-14T01:56:30.951Z,1628906190.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:31.725Z,1628906191.725 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.078447
2021-08-14T01:56:32.513Z,1628906192.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:56:32.513Z,1628906192.513 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:56:32.513Z,1628906192.513 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:56:33.547Z,1628906193.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:33.724Z,1628906193.724 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:56:33.725Z,1628906193.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:56:33.725Z,1628906193.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:56:33.727Z,1628906193.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:56:34.125Z,1628906194.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:56:34.125Z,1628906194.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:56:34.125Z,1628906194.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:56:34.931Z,1628906194.931 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-14T01:56:34.931Z,1628906194.931 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T01:56:34.931Z,1628906194.931 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T01:56:35.337Z,1628906195.337 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T01:56:35.476Z,1628906195.476 [RDI_Pathfinder](INFO): Powering down
2021-08-14T01:56:35.800Z,1628906195.800 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:56:36.237Z,1628906196.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:36.343Z,1628906196.343 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T01:56:36.343Z,1628906196.343 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T01:56:37.039Z,1628906197.039 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:56:37.039Z,1628906197.039 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:56:37.039Z,1628906197.039 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:56:37.069Z,1628906197.069 [Micromodem](INFO): Nmea in: $CATMG,2021-08-14T01:56:34.954028Z,RTC,RTC*5B

2021-08-14T01:56:37.069Z,1628906197.069 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-14T01:56:34.954028Z,RTC,RTC*5B

2021-08-14T01:56:37.425Z,1628906197.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:56:37.436Z,1628906197.436 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-14T01:56:37.852Z,1628906197.852 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-14T01:56:37.852Z,1628906197.852 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-14T01:56:38.251Z,1628906198.251 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-14T01:56:38.251Z,1628906198.251 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-14T01:56:38.670Z,1628906198.670 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-14T01:56:38.670Z,1628906198.670 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-14T01:56:38.772Z,1628906198.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:39.066Z,1628906199.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:56:39.066Z,1628906199.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:56:39.066Z,1628906199.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:56:39.067Z,1628906199.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:56:39.074Z,1628906199.074 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-14T01:56:39.075Z,1628906199.075 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-14T01:56:39.466Z,1628906199.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:56:39.466Z,1628906199.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:56:39.466Z,1628906199.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:56:39.468Z,1628906199.468 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-14T01:56:39.468Z,1628906199.468 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-14T01:56:39.886Z,1628906199.886 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-14T01:56:39.886Z,1628906199.886 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-14T01:56:40.345Z,1628906200.345 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-14T01:56:40.345Z,1628906200.345 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-14T01:56:40.694Z,1628906200.694 [Micromodem](INFO): Nmea in: $CADQF,196,1*5E

2021-08-14T01:56:40.695Z,1628906200.695 [Micromodem](ERROR): CFG response from modem unexpected: $CADQF,196,1*5E

2021-08-14T01:56:41.102Z,1628906201.102 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,0*21

2021-08-14T01:56:41.103Z,1628906201.103 [Micromodem](ERROR): CFG response from modem unexpected: $CAMSG,BAD_CRC,0*21

2021-08-14T01:56:41.520Z,1628906201.520 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814015639.328211,05,99,13,0117,0150,246,00,00,01,01,0,-01,-01,-1,2,1,1,-999,-99.9,-9.99,-999,-9.99,196,-0.05,-999,25120,4000*5C

2021-08-14T01:56:41.520Z,1628906201.520 [Micromodem](ERROR): CFG response from modem unexpected: $CACST,6,1,20210814015639.328211,05,99,13,0117,0150,246,00,00,01,01,0,-01,-01,-1,2,1,1,-999,-99.9,-9.99,-999,-9.99,196,-0.05,-999,25120,4000*5C

2021-08-14T01:56:41.542Z,1628906201.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:44.166Z,1628906204.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:45.144Z,1628906205.144 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.077143
2021-08-14T01:56:46.820Z,1628906206.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:47.161Z,1628906207.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:56:47.161Z,1628906207.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:56:47.161Z,1628906207.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:56:47.162Z,1628906207.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:56:47.582Z,1628906207.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:56:47.582Z,1628906207.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:56:47.582Z,1628906207.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:56:49.598Z,1628906209.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:51.045Z,1628906211.045 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T01:56:51.430Z,1628906211.430 [Micromodem](ERROR): Nmea resend: $CCCFG,BND,0*3A

2021-08-14T01:56:51.830Z,1628906211.830 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-14T01:56:51.830Z,1628906211.830 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,14,01,56,52*4D

2021-08-14T01:56:52.242Z,1628906212.242 [Micromodem](INFO): Nmea in: $CACLK,2021,8,14,1,56,52*4F

2021-08-14T01:56:52.244Z,1628906212.244 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-14T01:56:53Z*7E

2021-08-14T01:56:52.558Z,1628906212.558 [Micromodem](INFO): Outgoing frame #1, 64 bytes: CC101761250000005D00000400320000000000000000151D80030C5669C08C799858D60B8636A538B7595FED4C1319FDACBB8E683B2471140E63D353DF511252
2021-08-14T01:56:52.558Z,1628906212.558 [Micromodem](INFO): Outgoing frame #2, 5 bytes: A9A199D600
2021-08-14T01:56:52.559Z,1628906212.559 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-14T01:56:52.660Z,1628906212.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:52.661Z,1628906212.661 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T01:56:52.662Z,1628906212.662 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T01:56:52.662Z,1628906212.662 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T01:56:52.663Z,1628906212.663 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T01:56:52.663Z,1628906212.663 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T01:56:52.871Z,1628906212.871 [Micromodem](INFO): Nmea in: $CATMG,2021-08-14T01:56:53.028260Z,USER_CMD,RTC*17

2021-08-14T01:56:52.871Z,1628906212.871 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-14T01:56:53.028260Z,USER_CMD,RTC*17

2021-08-14T01:56:52.872Z,1628906212.872 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-14T01:56:53.456Z,1628906213.456 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.293861
2021-08-14T01:56:53.457Z,1628906213.457 [Micromodem](INFO): Nmea in: $CADRQ,015653,1,10,0,64,1*72

2021-08-14T01:56:53.458Z,1628906213.458 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC101761250000005D00000400320000000000000000151D80030C5669C08C799858D60B8636A538B7595FED4C1319FDACBB8E683B2471140E63D353DF511252*33

2021-08-14T01:56:53.842Z,1628906213.842 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T01:56:53.843Z,1628906213.843 [Micromodem](INFO): Nmea in: $CADRQ,015654,1,10,0,64,2*76

2021-08-14T01:56:53.844Z,1628906213.844 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A9A199D600*33

2021-08-14T01:56:54.246Z,1628906214.246 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,5*7E

2021-08-14T01:56:54.247Z,1628906214.247 [Micromodem](INFO): Nmea in: $CATXP,69*7D

2021-08-14T01:56:55.498Z,1628906215.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:55.857Z,1628906215.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:56:55.857Z,1628906215.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:56:55.857Z,1628906215.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:56:55.858Z,1628906215.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:56:56.269Z,1628906216.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:56:56.270Z,1628906216.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:56:56.270Z,1628906216.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:56:56.271Z,1628906216.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:56:57.078Z,1628906217.078 [Micromodem](INFO): Nmea in: $CATXF,69*6B

2021-08-14T01:56:57.078Z,1628906217.078 [Micromodem](ERROR): Response from modem unexpected: $CATXF,69*6B

2021-08-14T01:56:57.081Z,1628906217.081 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,015654.903594,3,0,200,4000,14500,1,1,10,1,2,2,3,69,14500*5C

2021-08-14T01:56:57.081Z,1628906217.081 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,015654.903594,3,0,200,4000,14500,1,1,10,1,2,2,3,69,14500*5C

2021-08-14T01:56:58.298Z,1628906218.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:56:59.898Z,1628906219.898 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T01:56:59.900Z,1628906219.900 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-14T01:57:00.317Z,1628906220.317 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814015659.711251,06,7663,38,0111,0150,74,01,01,00,01,1,010,001,0,4,1,0,150,11.6,5.88,13,-2.88,-01,0.04,48,14500,4000*5D

2021-08-14T01:57:00.318Z,1628906220.318 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814015659.711251,06,7663,38,0111,0150,74,01,01,00,01,1,010,001,0,4,1,0,150,11.6,5.88,13,-2.88,-01,0.04,48,14500,4000*5D

2021-08-14T01:57:00.827Z,1628906220.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:01.936Z,1628906221.936 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.077857
2021-08-14T01:57:03.582Z,1628906223.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:03.941Z,1628906223.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:57:03.941Z,1628906223.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:57:03.941Z,1628906223.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:57:03.942Z,1628906223.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:57:04.354Z,1628906224.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:57:04.354Z,1628906224.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:57:04.354Z,1628906224.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:57:06.406Z,1628906226.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:07.594Z,1628906227.594 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:57:07.984Z,1628906227.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:57:08.406Z,1628906228.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D45,0063,E4
5,189,80,80,8D,FF
2021-08-14T01:57:08.406Z,1628906228.406 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,D45,0063,E4
5,189,80,80,8D,FF
2021-08-14T01:57:08.822Z,1628906228.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015708.68*5B

2021-08-14T01:57:09.231Z,1628906229.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:10.016Z,1628906230.016 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.074038
2021-08-14T01:57:12.053Z,1628906232.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:12.450Z,1628906232.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:57:12.450Z,1628906232.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:57:12.450Z,1628906232.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:57:12.451Z,1628906232.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:57:12.841Z,1628906232.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D45,0063,E4
5,189,80,80,8D,FF
2021-08-14T01:57:12.841Z,1628906232.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:57:12.841Z,1628906232.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:57:12.843Z,1628906232.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:57:13.254Z,1628906233.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:57:14.088Z,1628906234.088 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015713.93*55

2021-08-14T01:57:14.937Z,1628906234.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:16.465Z,1628906236.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:57:16.465Z,1628906236.465 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:57:16.465Z,1628906236.465 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:57:17.691Z,1628906237.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:18.089Z,1628906238.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:57:18.089Z,1628906238.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:57:18.089Z,1628906238.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:57:18.090Z,1628906238.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:57:18.495Z,1628906238.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,8D,FF
2021-08-14T01:57:18.495Z,1628906238.495 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:57:18.496Z,1628906238.496 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:57:18.497Z,1628906238.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:57:18.901Z,1628906238.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:57:19.733Z,1628906239.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00E0E,189,80,80,71,FF
2021-08-14T01:57:19.734Z,1628906239.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:57:19.768Z,1628906239.768 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015719.58*58

2021-08-14T01:57:20.143Z,1628906240.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.380005 m, bearing: 233.350216 deg, deltaT: 63.000881 s, approachRate: -22.619684 m/s, LOS rate: -1.081548 deg/s, posRepo size: 4
2021-08-14T01:57:20.145Z,1628906240.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.380005 m,
      bearing: 233.350216 deg,
      approachRate: -22.619684 m/s,
      LOS rate: -1.081548 deg/s,
      cmd update: -3.244645 deg/s,
      cmd heading: 188.386679 deg,
      new cmd heading: 184.402247 deg.

2021-08-14T01:57:22.559Z,1628906242.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:22.929Z,1628906242.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:57:22.929Z,1628906242.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:57:22.929Z,1628906242.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:57:22.930Z,1628906242.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:57:23.346Z,1628906243.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00E0E,189,80,80,71,FF
2021-08-14T01:57:23.346Z,1628906243.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:57:23.346Z,1628906243.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:57:23.348Z,1628906243.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:57:23.753Z,1628906243.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:57:23.773Z,1628906243.773 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T01:57:24.569Z,1628906244.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D2,000,016CB,189,80,80,62,FF
2021-08-14T01:57:24.570Z,1628906244.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:57:24.572Z,1628906244.572 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015724.43*5C

2021-08-14T01:57:25.021Z,1628906245.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 312.600006 m, bearing: 217.306034 deg, deltaT: 4.780909 s, approachRate: 28.074160 m/s, LOS rate: -3.355885 deg/s, posRepo size: 4
2021-08-14T01:57:25.023Z,1628906245.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 312.600006 m,
      bearing: 217.306034 deg,
      approachRate: 28.074160 m/s,
      LOS rate: -3.355885 deg/s,
      cmd update: -10.067656 deg/s,
      cmd heading: 172.887696 deg,
      new cmd heading: 171.482194 deg.

2021-08-14T01:57:27.443Z,1628906247.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:27.797Z,1628906247.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:57:27.797Z,1628906247.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:57:27.797Z,1628906247.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:57:27.798Z,1628906247.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:57:28.181Z,1628906248.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4D2,000,016CB,189,80,80,62,FF
2021-08-14T01:57:28.181Z,1628906248.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:57:28.181Z,1628906248.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:57:28.183Z,1628906248.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:57:28.588Z,1628906248.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:57:29.010Z,1628906249.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00E0F,189,80,80,62,FF
2021-08-14T01:57:29.010Z,1628906249.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:57:29.437Z,1628906249.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015729.27*53

2021-08-14T01:57:29.459Z,1628906249.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.440002 m, bearing: 199.085480 deg, deltaT: 4.607211 s, approachRate: -29.119570 m/s, LOS rate: -3.954791 deg/s, posRepo size: 4
2021-08-14T01:57:29.462Z,1628906249.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.440002 m,
      bearing: 199.085480 deg,
      approachRate: -29.119570 m/s,
      LOS rate: -3.954791 deg/s,
      cmd update: -11.864372 deg/s,
      cmd heading: 126.462039 deg,
      new cmd heading: 123.841881 deg.

2021-08-14T01:57:31.857Z,1628906251.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:32.221Z,1628906252.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:57:32.221Z,1628906252.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:57:32.221Z,1628906252.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:57:32.222Z,1628906252.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:57:32.629Z,1628906252.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00E0F,189,80,80,62,FF
2021-08-14T01:57:32.629Z,1628906252.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:57:32.629Z,1628906252.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:57:32.631Z,1628906252.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:57:33.037Z,1628906253.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:57:33.870Z,1628906253.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,48D,000,0143D,18A,80,80,83,FF
2021-08-14T01:57:33.870Z,1628906253.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:57:33.873Z,1628906253.873 [Micromodem](INFO): Nmea in: $SNTTA,0.189948,,,,015733.72*43

2021-08-14T01:57:34.285Z,1628906254.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 273.359985 m, bearing: 185.819845 deg, deltaT: 4.727618 s, approachRate: 20.077761 m/s, LOS rate: -2.805987 deg/s, posRepo size: 4
2021-08-14T01:57:34.287Z,1628906254.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.359985 m,
      bearing: 185.819845 deg,
      approachRate: 20.077761 m/s,
      LOS rate: -2.805987 deg/s,
      cmd update: -8.417961 deg/s,
      cmd heading: 70.705424 deg,
      new cmd heading: 66.123428 deg.

2021-08-14T01:57:36.814Z,1628906256.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:37.073Z,1628906257.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:57:37.073Z,1628906257.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:57:37.073Z,1628906257.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:57:37.074Z,1628906257.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:57:37.473Z,1628906257.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
48D,000,0143D,18A,80,80,83,FF
2021-08-14T01:57:37.473Z,1628906257.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:57:37.474Z,1628906257.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:57:37.475Z,1628906257.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:57:37.881Z,1628906257.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:57:38.754Z,1628906258.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015738.56*55

2021-08-14T01:57:39.530Z,1628906259.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:40.305Z,1628906260.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,220,000,0675E,188,80,80,62,FF
2021-08-14T01:57:40.306Z,1628906260.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:57:40.805Z,1628906260.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1550.220093 m, bearing: 189.491304 deg, deltaT: 6.405441 s, approachRate: 199.339920 m/s, LOS rate: 0.573178 deg/s, posRepo size: 4
2021-08-14T01:57:40.807Z,1628906260.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1550.220093 m,
      bearing: 189.491304 deg,
      approachRate: 199.339920 m/s,
      LOS rate: 0.573178 deg/s,
      cmd update: 1.719534 deg/s,
      cmd heading: 16.582424 deg,
      new cmd heading: 12.568227 deg.

2021-08-14T01:57:42.837Z,1628906262.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:43.129Z,1628906263.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:57:43.129Z,1628906263.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:57:43.129Z,1628906263.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:57:43.130Z,1628906263.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:57:43.541Z,1628906263.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
220,000,0675E,188,80,80,62,FF
2021-08-14T01:57:43.541Z,1628906263.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:57:43.541Z,1628906263.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:57:43.543Z,1628906263.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:57:43.937Z,1628906263.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:57:44.346Z,1628906264.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35E,000,0675E,188,80,80,62,FF
2021-08-14T01:57:44.347Z,1628906264.347 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:57:44.809Z,1628906264.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015744.63*58

2021-08-14T01:57:44.875Z,1628906264.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1550.220093 m, bearing: 182.640775 deg, deltaT: 4.057876 s, approachRate: 0.000000 m/s, LOS rate: -1.688206 deg/s, posRepo size: 4
2021-08-14T01:57:44.877Z,1628906264.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1550.220093 m,
      bearing: 182.640775 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.688206 deg/s,
      cmd update: -5.064617 deg/s,
      cmd heading: 23.530652 deg,
      new cmd heading: 24.400924 deg.

2021-08-14T01:57:47.215Z,1628906267.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:47.577Z,1628906267.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:57:47.577Z,1628906267.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:57:47.577Z,1628906267.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:57:47.578Z,1628906267.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:57:47.981Z,1628906267.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35E,000,0675E,188,80,80,62,FF
2021-08-14T01:57:47.981Z,1628906267.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:57:47.981Z,1628906267.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:57:47.983Z,1628906267.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:57:48.401Z,1628906268.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:57:48.809Z,1628906268.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D8B,189,80,80,62,FF
2021-08-14T01:57:48.810Z,1628906268.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:57:49.237Z,1628906269.237 [Micromodem](INFO): Nmea in: $SNTTA,0.113361,,,,015749.07*4E

2021-08-14T01:57:49.272Z,1628906269.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.519989 m, bearing: 178.392752 deg, deltaT: 4.493610 s, approachRate: -307.036011 m/s, LOS rate: -0.945347 deg/s, posRepo size: 4
2021-08-14T01:57:49.274Z,1628906269.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.519989 m,
      bearing: 178.392752 deg,
      approachRate: -307.036011 m/s,
      LOS rate: -0.945347 deg/s,
      cmd update: -2.836042 deg/s,
      cmd heading: 0.685093 deg,
      new cmd heading: 358.719682 deg.

2021-08-14T01:57:51.647Z,1628906271.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:52.021Z,1628906272.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:57:52.021Z,1628906272.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:57:52.021Z,1628906272.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:57:52.022Z,1628906272.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:57:52.440Z,1628906272.440 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D8B,189,80,80,62,FF
2021-08-14T01:57:52.440Z,1628906272.440 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:57:52.440Z,1628906272.440 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:57:52.442Z,1628906272.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:57:52.841Z,1628906272.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:57:53.241Z,1628906273.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,00D8B,189,80,80,62,FF
2021-08-14T01:57:53.242Z,1628906273.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:57:53.673Z,1628906273.673 [Micromodem](INFO): Nmea in: $SNTTA,0.114625,,,,015753.52*47

2021-08-14T01:57:53.708Z,1628906273.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.519989 m, bearing: 298.510604 deg, deltaT: 4.403876 s, approachRate: 0.000000 m/s, LOS rate: 27.275484 deg/s, posRepo size: 4
2021-08-14T01:57:53.711Z,1628906273.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 27.275484 deg/s. Setting heading cmd to target bearing of 298.510604deg and heading rate command to 0 deg/s.
2021-08-14T01:57:56.103Z,1628906276.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:57:56.469Z,1628906276.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:57:56.469Z,1628906276.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:57:56.469Z,1628906276.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:57:56.470Z,1628906276.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:57:56.877Z,1628906276.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,00D8B,189,80,80,62,FF
2021-08-14T01:57:56.877Z,1628906276.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:57:56.877Z,1628906276.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:57:56.879Z,1628906276.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:57:57.295Z,1628906277.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:57:57.674Z,1628906277.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,00D8B,189,80,80,62,FF
2021-08-14T01:57:57.674Z,1628906277.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:57:58.105Z,1628906278.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015757.96*50

2021-08-14T01:57:58.147Z,1628906278.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.519989 m, bearing: 317.829111 deg, deltaT: 4.463924 s, approachRate: 0.000000 m/s, LOS rate: 4.327696 deg/s, posRepo size: 4
2021-08-14T01:57:58.150Z,1628906278.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.519989 m,
      bearing: 317.829111 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.327696 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 298.510604 deg,
      new cmd heading: 298.510604 deg.

2021-08-14T01:58:00.535Z,1628906280.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:00.913Z,1628906280.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:58:00.913Z,1628906280.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:58:00.913Z,1628906280.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:58:00.914Z,1628906280.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:58:01.329Z,1628906281.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,00D8B,189,80,80,62,FF
2021-08-14T01:58:01.329Z,1628906281.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:58:01.329Z,1628906281.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:58:01.332Z,1628906281.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:58:01.750Z,1628906281.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:58:02.531Z,1628906282.531 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,460,000,00D7D,189,80,80,95,FF
2021-08-14T01:58:02.533Z,1628906282.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:58:02.538Z,1628906282.538 [Micromodem](INFO): Nmea in: $SNTTA,0.136076,,,,015802.42*4D

2021-08-14T01:58:02.994Z,1628906282.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.679993 m, bearing: 247.020922 deg, deltaT: 4.845995 s, approachRate: -0.173338 m/s, LOS rate: -14.611692 deg/s, posRepo size: 4
2021-08-14T01:58:02.995Z,1628906282.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.611692 deg/s. Setting heading cmd to target bearing of 247.020922deg and heading rate command to 0 deg/s.
2021-08-14T01:58:05.382Z,1628906285.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:05.781Z,1628906285.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:58:05.781Z,1628906285.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:58:05.781Z,1628906285.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:58:05.782Z,1628906285.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:58:06.157Z,1628906286.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
460,000,00D7D,189,80,80,95,FF
2021-08-14T01:58:06.157Z,1628906286.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:58:06.157Z,1628906286.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:58:06.159Z,1628906286.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:58:06.575Z,1628906286.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:58:06.966Z,1628906286.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,245,000,00D7D,189,80,80,95,FF
2021-08-14T01:58:06.966Z,1628906286.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:58:07.419Z,1628906287.419 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015807.24*53

2021-08-14T01:58:07.455Z,1628906287.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.679993 m, bearing: 292.133475 deg, deltaT: 4.471685 s, approachRate: 0.000000 m/s, LOS rate: 10.088491 deg/s, posRepo size: 4
2021-08-14T01:58:07.477Z,1628906287.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.679993 m,
      bearing: 292.133475 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 10.088491 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 247.020922 deg,
      new cmd heading: 247.020922 deg.

2021-08-14T01:58:09.842Z,1628906289.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:10.197Z,1628906290.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:58:10.197Z,1628906290.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:58:10.197Z,1628906290.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:58:10.198Z,1628906290.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:58:10.646Z,1628906290.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
245,000,00D7D,189,80,80,95,FF
2021-08-14T01:58:10.646Z,1628906290.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:58:10.647Z,1628906290.647 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:58:10.689Z,1628906290.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:58:11.132Z,1628906291.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:58:11.952Z,1628906291.952 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015811.78*5D

2021-08-14T01:58:12.386Z,1628906292.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:14.363Z,1628906294.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,95,FF
2021-08-14T01:58:14.363Z,1628906294.363 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,95,FF
2021-08-14T01:58:14.363Z,1628906294.363 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:58:15.198Z,1628906295.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:15.573Z,1628906295.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:58:15.573Z,1628906295.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:58:15.573Z,1628906295.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:58:15.574Z,1628906295.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:58:15.985Z,1628906295.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,95,FF
2021-08-14T01:58:15.985Z,1628906295.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:58:15.985Z,1628906295.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:58:15.987Z,1628906295.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:58:16.392Z,1628906296.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:58:16.794Z,1628906296.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28,80,63,E4
D,189,80,80,95,FF
2021-08-14T01:58:16.794Z,1628906296.794 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,28,80,63,E4
D,189,80,80,95,FF
2021-08-14T01:58:17.210Z,1628906297.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015817.07*53

2021-08-14T01:58:18.041Z,1628906298.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:20.911Z,1628906300.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:21.644Z,1628906301.644 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.069895
2021-08-14T01:58:23.683Z,1628906303.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:24.057Z,1628906304.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:58:24.057Z,1628906304.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:58:24.057Z,1628906304.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:58:24.058Z,1628906304.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:58:24.462Z,1628906304.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28,80,63,E4
D,189,80,80,95,FF
2021-08-14T01:58:24.462Z,1628906304.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:58:24.462Z,1628906304.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:58:24.464Z,1628906304.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:58:24.869Z,1628906304.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:58:25.693Z,1628906305.693 [Micromodem](INFO): Nmea in: $SNTTA,,0.000958,,,015825.55*4F

2021-08-14T01:58:26.517Z,1628906306.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:28.097Z,1628906308.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,95,FF
2021-08-14T01:58:28.097Z,1628906308.097 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,95,FF
2021-08-14T01:58:28.097Z,1628906308.097 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T01:58:29.345Z,1628906309.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:29.737Z,1628906309.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:58:29.737Z,1628906309.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:58:29.738Z,1628906309.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:58:29.739Z,1628906309.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:58:30.117Z,1628906310.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,95,FF
2021-08-14T01:58:30.117Z,1628906310.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:58:30.117Z,1628906310.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:58:30.119Z,1628906310.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:58:30.533Z,1628906310.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:58:31.354Z,1628906311.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,00E8A,18A,80,80,59,FF
2021-08-14T01:58:31.354Z,1628906311.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:58:31.374Z,1628906311.374 [Micromodem](INFO): Nmea in: $SNTTA,0.138557,,,,015831.20*41

2021-08-14T01:58:31.787Z,1628906311.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.820007 m, bearing: 322.694446 deg, deltaT: 24.350389 s, approachRate: 0.662824 m/s, LOS rate: 1.255051 deg/s, posRepo size: 4
2021-08-14T01:58:31.790Z,1628906311.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.820007 m,
      bearing: 322.694446 deg,
      approachRate: 0.662824 m/s,
      LOS rate: 1.255051 deg/s,
      cmd update: 3.765152 deg/s,
      cmd heading: 179.321623 deg,
      new cmd heading: 183.736928 deg.

2021-08-14T01:58:34.179Z,1628906314.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:34.561Z,1628906314.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:58:34.561Z,1628906314.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:58:34.561Z,1628906314.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:58:34.562Z,1628906314.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:58:34.965Z,1628906314.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,00E8A,18A,80,80,59,FF
2021-08-14T01:58:34.965Z,1628906314.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:58:34.965Z,1628906314.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:58:34.967Z,1628906314.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:58:35.384Z,1628906315.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:58:35.786Z,1628906315.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,00E8A,18A,80,80,59,FF
2021-08-14T01:58:35.786Z,1628906315.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:58:36.213Z,1628906316.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015836.05*52

2021-08-14T01:58:36.247Z,1628906316.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.820007 m, bearing: 29.990169 deg, deltaT: 4.440039 s, approachRate: 0.000000 m/s, LOS rate: 15.156559 deg/s, posRepo size: 4
2021-08-14T01:58:36.248Z,1628906316.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.156559 deg/s. Setting heading cmd to target bearing of 29.990169deg and heading rate command to 0 deg/s.
2021-08-14T01:58:38.675Z,1628906318.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:39.005Z,1628906319.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:58:39.005Z,1628906319.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:58:39.005Z,1628906319.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:58:39.006Z,1628906319.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:58:39.413Z,1628906319.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,00E8A,18A,80,80,59,FF
2021-08-14T01:58:39.413Z,1628906319.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:58:39.413Z,1628906319.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:58:39.415Z,1628906319.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:58:39.821Z,1628906319.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:58:40.673Z,1628906320.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,00EE9,189,80,80,88,FF
2021-08-14T01:58:40.674Z,1628906320.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:58:40.698Z,1628906320.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015840.50*53

2021-08-14T01:58:41.068Z,1628906321.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.519989 m, bearing: 346.088609 deg, deltaT: 4.952875 s, approachRate: 1.150843 m/s, LOS rate: -8.863852 deg/s, posRepo size: 4
2021-08-14T01:58:41.070Z,1628906321.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.519989 m,
      bearing: 346.088609 deg,
      approachRate: 1.150843 m/s,
      LOS rate: -8.863852 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 29.990169 deg,
      new cmd heading: 29.990169 deg.

2021-08-14T01:58:43.502Z,1628906323.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:43.861Z,1628906323.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:58:43.861Z,1628906323.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:58:43.861Z,1628906323.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:58:43.862Z,1628906323.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:58:44.265Z,1628906324.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29B,000,00EE9,189,80,80,88,FF
2021-08-14T01:58:44.265Z,1628906324.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:58:44.265Z,1628906324.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:58:44.267Z,1628906324.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:58:44.690Z,1628906324.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:58:45.498Z,1628906325.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015845.35*55

2021-08-14T01:58:46.295Z,1628906326.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:47.090Z,1628906327.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,06EB0,188,80,80,88,FF
2021-08-14T01:58:47.091Z,1628906327.091 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:58:47.571Z,1628906327.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1662.660034 m, bearing: 45.254655 deg, deltaT: 6.321114 s, approachRate: 232.734299 m/s, LOS rate: 9.360066 deg/s, posRepo size: 4
2021-08-14T01:58:47.574Z,1628906327.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1662.660034 m,
      bearing: 45.254655 deg,
      approachRate: 232.734299 m/s,
      LOS rate: 9.360066 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 314.185146 deg,
      new cmd heading: 308.882778 deg.

2021-08-14T01:58:49.971Z,1628906329.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:50.322Z,1628906330.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:58:50.322Z,1628906330.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:58:50.322Z,1628906330.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:58:50.323Z,1628906330.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:58:50.777Z,1628906330.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,06EB0,188,80,80,88,FF
2021-08-14T01:58:50.777Z,1628906330.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:58:50.777Z,1628906330.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:58:50.778Z,1628906330.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:58:51.154Z,1628906331.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:58:51.956Z,1628906331.956 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,00F6A,186,80,80,82,FF
2021-08-14T01:58:51.956Z,1628906331.956 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:58:51.964Z,1628906331.964 [Micromodem](INFO): Nmea in: $SNTTA,0.135169,,,,015851.86*4F

2021-08-14T01:58:52.419Z,1628906332.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.259995 m, bearing: 49.015101 deg, deltaT: 4.893566 s, approachRate: -299.045746 m/s, LOS rate: 0.768447 deg/s, posRepo size: 4
2021-08-14T01:58:52.422Z,1628906332.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.259995 m,
      bearing: 49.015101 deg,
      approachRate: -299.045746 m/s,
      LOS rate: 0.768447 deg/s,
      cmd update: 2.305341 deg/s,
      cmd heading: 12.906848 deg,
      new cmd heading: 17.617821 deg.

2021-08-14T01:58:54.870Z,1628906334.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:58:55.185Z,1628906335.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:58:55.185Z,1628906335.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:58:55.185Z,1628906335.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:58:55.186Z,1628906335.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:58:55.607Z,1628906335.607 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,00F6A,186,80,80,82,FF
2021-08-14T01:58:55.607Z,1628906335.607 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:58:55.607Z,1628906335.607 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:58:55.609Z,1628906335.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:58:55.997Z,1628906335.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:58:56.809Z,1628906336.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F2,000,00FA3,189,80,80,36,FF
2021-08-14T01:58:56.810Z,1628906336.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:58:56.813Z,1628906336.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015856.69*5E

2021-08-14T01:58:57.267Z,1628906337.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.679977 m, bearing: 357.987208 deg, deltaT: 4.883303 s, approachRate: 0.700342 m/s, LOS rate: -10.449464 deg/s, posRepo size: 4
2021-08-14T01:58:57.275Z,1628906337.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.679977 m,
      bearing: 357.987208 deg,
      approachRate: 0.700342 m/s,
      LOS rate: -10.449464 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 24.163417 deg,
      new cmd heading: 24.997056 deg.

2021-08-14T01:58:59.675Z,1628906339.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:59:00.033Z,1628906340.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:59:00.033Z,1628906340.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:59:00.033Z,1628906340.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:59:00.034Z,1628906340.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:59:00.441Z,1628906340.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F2,000,00FA3,189,80,80,36,FF
2021-08-14T01:59:00.442Z,1628906340.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:59:00.442Z,1628906340.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:59:00.445Z,1628906340.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:59:00.854Z,1628906340.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:59:01.681Z,1628906341.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,00FCD,187,80,80,82,FF
2021-08-14T01:59:01.681Z,1628906341.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:59:01.684Z,1628906341.684 [Micromodem](INFO): Nmea in: $SNTTA,0.138848,,,,015901.53*44

2021-08-14T01:59:02.122Z,1628906342.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.199982 m, bearing: 36.827120 deg, deltaT: 4.807294 s, approachRate: 0.524204 m/s, LOS rate: 8.079372 deg/s, posRepo size: 4
2021-08-14T01:59:02.124Z,1628906342.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.199982 m,
      bearing: 36.827120 deg,
      approachRate: 0.524204 m/s,
      LOS rate: 8.079372 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 326.587236 deg,
      new cmd heading: 321.569916 deg.

2021-08-14T01:59:04.549Z,1628906344.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:59:04.885Z,1628906344.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:59:04.885Z,1628906344.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:59:04.885Z,1628906344.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:59:04.886Z,1628906344.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:59:05.292Z,1628906345.292 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,00FCD,187,80,80,82,FF
2021-08-14T01:59:05.292Z,1628906345.292 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:59:05.293Z,1628906345.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:59:05.295Z,1628906345.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:59:05.712Z,1628906345.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:59:06.521Z,1628906346.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,0100F,185,80,80,4F,FF
2021-08-14T01:59:06.522Z,1628906346.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:59:06.549Z,1628906346.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015906.38*5E

2021-08-14T01:59:06.994Z,1628906346.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.160004 m, bearing: 350.594348 deg, deltaT: 4.867678 s, approachRate: 0.813534 m/s, LOS rate: -9.497912 deg/s, posRepo size: 4
2021-08-14T01:59:06.998Z,1628906346.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.160004 m,
      bearing: 350.594348 deg,
      approachRate: 0.813534 m/s,
      LOS rate: -9.497912 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 25.065134 deg,
      new cmd heading: 30.068450 deg.

2021-08-14T01:59:09.404Z,1628906349.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:59:09.744Z,1628906349.744 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:59:09.744Z,1628906349.744 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:59:09.745Z,1628906349.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:59:09.746Z,1628906349.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:59:10.146Z,1628906350.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,0100F,185,80,80,4F,FF
2021-08-14T01:59:10.147Z,1628906350.147 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:59:10.147Z,1628906350.147 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:59:10.152Z,1628906350.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:59:10.544Z,1628906350.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:59:11.365Z,1628906351.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,01044,186,80,80,55,FF
2021-08-14T01:59:11.366Z,1628906351.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:59:11.369Z,1628906351.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015911.24*55

2021-08-14T01:59:11.865Z,1628906351.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.339981 m, bearing: 11.745615 deg, deltaT: 4.798013 s, approachRate: 0.662770 m/s, LOS rate: 4.408336 deg/s, posRepo size: 4
2021-08-14T01:59:11.867Z,1628906351.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.339981 m,
      bearing: 11.745615 deg,
      approachRate: 0.662770 m/s,
      LOS rate: 4.408336 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 327.388248 deg,
      new cmd heading: 321.661872 deg.

2021-08-14T01:59:14.203Z,1628906354.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:59:14.585Z,1628906354.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:59:14.585Z,1628906354.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:59:14.585Z,1628906354.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:59:14.586Z,1628906354.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:59:15.025Z,1628906355.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,01044,186,80,80,55,FF
2021-08-14T01:59:15.025Z,1628906355.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:59:15.025Z,1628906355.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:59:15.027Z,1628906355.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:59:15.432Z,1628906355.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:59:16.269Z,1628906356.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E8,000,0107F,188,80,80,47,FF
2021-08-14T01:59:16.270Z,1628906356.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:59:16.297Z,1628906356.297 [Micromodem](INFO): Nmea in: $SNTTA,0.145643,,,,015916.11*4B

2021-08-14T01:59:16.785Z,1628906356.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.879990 m, bearing: 315.100942 deg, deltaT: 4.964570 s, approachRate: 0.713054 m/s, LOS rate: -11.409782 deg/s, posRepo size: 4
2021-08-14T01:59:16.787Z,1628906356.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.879990 m,
      bearing: 315.100942 deg,
      approachRate: 0.713054 m/s,
      LOS rate: -11.409782 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 26.900414 deg,
      new cmd heading: 32.205638 deg.

2021-08-14T01:59:19.088Z,1628906359.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:59:19.461Z,1628906359.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:59:19.461Z,1628906359.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:59:19.461Z,1628906359.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:59:19.462Z,1628906359.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:59:19.870Z,1628906359.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E8,000,0107F,188,80,80,47,FF
2021-08-14T01:59:19.870Z,1628906359.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:59:19.870Z,1628906359.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:59:19.871Z,1628906359.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:59:20.277Z,1628906360.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:59:20.744Z,1628906360.744 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F4,000,0107F,188,80,80,47,FF
2021-08-14T01:59:20.745Z,1628906360.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:59:21.124Z,1628906361.124 [Micromodem](INFO): Nmea in: $SNTTA,0.296529,,,,015920.96*43

2021-08-14T01:59:21.145Z,1628906361.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.879990 m, bearing: 280.443852 deg, deltaT: 4.489424 s, approachRate: 0.000000 m/s, LOS rate: -7.719719 deg/s, posRepo size: 4
2021-08-14T01:59:21.147Z,1628906361.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.879990 m,
      bearing: 280.443852 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.719719 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 332.970684 deg,
      new cmd heading: 329.275356 deg.

2021-08-14T01:59:23.542Z,1628906363.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:59:23.909Z,1628906363.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:59:23.909Z,1628906363.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:59:23.909Z,1628906363.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:59:23.910Z,1628906363.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:59:24.314Z,1628906364.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4F4,000,0107F,188,80,80,47,FF
2021-08-14T01:59:24.314Z,1628906364.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:59:24.314Z,1628906364.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:59:24.317Z,1628906364.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:59:24.769Z,1628906364.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:59:25.127Z,1628906365.127 [Micromodem](INFO): Nmea in: $SNTTA,0.149613,0.074057,,,015925.40*59

2021-08-14T01:59:25.525Z,1628906365.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E36,000,010E4,186,80,80,5E,FF
2021-08-14T01:59:25.525Z,1628906365.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:59:26.050Z,1628906366.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.939987 m, bearing: 18.254340 deg, deltaT: 4.738191 s, approachRate: 1.278969 m/s, LOS rate: 20.643002 deg/s, posRepo size: 4
2021-08-14T01:59:26.051Z,1628906366.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.643002 deg/s. Setting heading cmd to target bearing of 18.254340deg and heading rate command to 0 deg/s.
2021-08-14T01:59:28.375Z,1628906368.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:59:28.785Z,1628906368.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:59:28.785Z,1628906368.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:59:28.785Z,1628906368.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:59:28.786Z,1628906368.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:59:29.161Z,1628906369.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E36,000,010E4,186,80,80,5E,FF
2021-08-14T01:59:29.161Z,1628906369.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:59:29.161Z,1628906369.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:59:29.163Z,1628906369.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:59:29.569Z,1628906369.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:59:30.405Z,1628906370.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0111D,189,80,80,4C,FF
2021-08-14T01:59:30.405Z,1628906370.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:59:30.408Z,1628906370.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015930.25*57

2021-08-14T01:59:30.854Z,1628906370.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.359985 m, bearing: 280.293724 deg, deltaT: 4.847620 s, approachRate: 0.705500 m/s, LOS rate: -20.207980 deg/s, posRepo size: 4
2021-08-14T01:59:30.855Z,1628906370.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.207980 deg/s. Setting heading cmd to target bearing of 280.293724deg and heading rate command to 0 deg/s.
2021-08-14T01:59:33.218Z,1628906373.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:59:33.613Z,1628906373.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:59:33.613Z,1628906373.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:59:33.613Z,1628906373.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:59:33.614Z,1628906373.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:59:34.017Z,1628906374.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0111D,189,80,80,4C,FF
2021-08-14T01:59:34.017Z,1628906374.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:59:34.017Z,1628906374.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:59:34.019Z,1628906374.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:59:34.417Z,1628906374.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:59:35.245Z,1628906375.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,359,000,00F6A,18A,80,80,90,FF
2021-08-14T01:59:35.245Z,1628906375.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:59:35.248Z,1628906375.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015935.10*54

2021-08-14T01:59:35.659Z,1628906375.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.259995 m, bearing: 284.951968 deg, deltaT: 4.872665 s, approachRate: -5.356410 m/s, LOS rate: 0.955995 deg/s, posRepo size: 4
2021-08-14T01:59:35.662Z,1628906375.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.259995 m,
      bearing: 284.951968 deg,
      approachRate: -5.356410 m/s,
      LOS rate: 0.955995 deg/s,
      cmd update: 2.867985 deg/s,
      cmd heading: 280.293724 deg,
      new cmd heading: 280.293724 deg.

2021-08-14T01:59:38.085Z,1628906378.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:59:38.453Z,1628906378.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:59:38.453Z,1628906378.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:59:38.453Z,1628906378.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:59:38.454Z,1628906378.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:59:38.861Z,1628906378.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
359,000,00F6A,18A,80,80,90,FF
2021-08-14T01:59:38.861Z,1628906378.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:59:38.861Z,1628906378.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:59:38.863Z,1628906378.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:59:39.273Z,1628906379.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:59:40.096Z,1628906380.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CB,000,01173,188,80,80,8B,FF
2021-08-14T01:59:40.097Z,1628906380.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:59:40.100Z,1628906380.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015939.95*55

2021-08-14T01:59:40.524Z,1628906380.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.519989 m, bearing: 280.427487 deg, deltaT: 4.834465 s, approachRate: 6.466071 m/s, LOS rate: -0.935880 deg/s, posRepo size: 4
2021-08-14T01:59:40.530Z,1628906380.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.519989 m,
      bearing: 280.427487 deg,
      approachRate: 6.466071 m/s,
      LOS rate: -0.935880 deg/s,
      cmd update: -2.807641 deg/s,
      cmd heading: 294.180889 deg,
      new cmd heading: 295.309943 deg.

2021-08-14T01:59:42.959Z,1628906382.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:59:43.301Z,1628906383.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:59:43.301Z,1628906383.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:59:43.301Z,1628906383.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:59:43.302Z,1628906383.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:59:43.722Z,1628906383.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CB,000,01173,188,80,80,8B,FF
2021-08-14T01:59:43.723Z,1628906383.723 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:59:43.723Z,1628906383.723 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:59:43.729Z,1628906383.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:59:44.114Z,1628906384.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:59:44.927Z,1628906384.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,312,000,0118E,189,80,80,AC,FF
2021-08-14T01:59:44.932Z,1628906384.932 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:59:44.935Z,1628906384.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015944.82*59

2021-08-14T01:59:45.365Z,1628906385.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.139984 m, bearing: 257.455921 deg, deltaT: 4.910006 s, approachRate: 0.329937 m/s, LOS rate: -4.678521 deg/s, posRepo size: 4
2021-08-14T01:59:45.367Z,1628906385.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.139984 m,
      bearing: 257.455921 deg,
      approachRate: 0.329937 m/s,
      LOS rate: -4.678521 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 280.405554 deg,
      new cmd heading: 279.483982 deg.

2021-08-14T01:59:47.817Z,1628906387.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:59:48.161Z,1628906388.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:59:48.161Z,1628906388.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:59:48.162Z,1628906388.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:59:48.163Z,1628906388.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:59:48.557Z,1628906388.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
312,000,0118E,189,80,80,AC,FF
2021-08-14T01:59:48.557Z,1628906388.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:59:48.557Z,1628906388.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:59:48.559Z,1628906388.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:59:48.965Z,1628906388.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:59:49.809Z,1628906389.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0119F,189,80,80,6B,FF
2021-08-14T01:59:49.809Z,1628906389.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:59:49.813Z,1628906389.813 [Micromodem](INFO): Nmea in: $SNTTA,0.160933,,,,015949.64*4C

2021-08-14T01:59:50.203Z,1628906390.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.159988 m, bearing: 218.285633 deg, deltaT: 4.797843 s, approachRate: 0.212596 m/s, LOS rate: -8.164146 deg/s, posRepo size: 4
2021-08-14T01:59:50.206Z,1628906390.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.159988 m,
      bearing: 218.285633 deg,
      approachRate: 0.212596 m/s,
      LOS rate: -8.164146 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 222.782393 deg,
      new cmd heading: 218.399333 deg.

2021-08-14T01:59:52.611Z,1628906392.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:59:52.995Z,1628906392.995 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:59:52.995Z,1628906392.995 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:59:52.995Z,1628906392.995 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:59:52.996Z,1628906392.996 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:59:53.405Z,1628906393.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0119F,189,80,80,6B,FF
2021-08-14T01:59:53.405Z,1628906393.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:59:53.405Z,1628906393.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:59:53.407Z,1628906393.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:59:53.816Z,1628906393.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:59:54.664Z,1628906394.664 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,011A9,188,80,80,81,FF
2021-08-14T01:59:54.666Z,1628906394.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:59:54.681Z,1628906394.681 [Micromodem](INFO): Nmea in: $SNTTA,0.155457,,,,015954.49*46

2021-08-14T01:59:55.046Z,1628906395.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.759995 m, bearing: 199.499061 deg, deltaT: 4.999499 s, approachRate: 0.120013 m/s, LOS rate: -3.757691 deg/s, posRepo size: 4
2021-08-14T01:59:55.048Z,1628906395.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.759995 m,
      bearing: 199.499061 deg,
      approachRate: 0.120013 m/s,
      LOS rate: -3.757691 deg/s,
      cmd update: -11.273073 deg/s,
      cmd heading: 162.827524 deg,
      new cmd heading: 160.290028 deg.

2021-08-14T01:59:57.466Z,1628906397.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T01:59:57.849Z,1628906397.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T01:59:57.849Z,1628906397.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T01:59:57.849Z,1628906397.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T01:59:57.850Z,1628906397.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T01:59:58.249Z,1628906398.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,011A9,188,80,80,81,FF
2021-08-14T01:59:58.249Z,1628906398.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T01:59:58.249Z,1628906398.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T01:59:58.251Z,1628906398.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T01:59:58.697Z,1628906398.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T01:59:59.481Z,1628906399.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,011A0,189,80,80,AB,FF
2021-08-14T01:59:59.481Z,1628906399.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T01:59:59.484Z,1628906399.484 [Micromodem](INFO): Nmea in: $SNTTA,0.103529,,,,015959.34*4A

2021-08-14T01:59:59.902Z,1628906399.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.220001 m, bearing: 180.564206 deg, deltaT: 4.707334 s, approachRate: -0.114713 m/s, LOS rate: -4.022416 deg/s, posRepo size: 4
2021-08-14T01:59:59.903Z,1628906399.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.220001 m,
      bearing: 180.564206 deg,
      approachRate: -0.114713 m/s,
      LOS rate: -4.022416 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 109.822517 deg,
      new cmd heading: 105.705444 deg.

2021-08-14T02:00:02.314Z,1628906402.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:02.733Z,1628906402.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:00:02.733Z,1628906402.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:00:02.734Z,1628906402.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:00:02.735Z,1628906402.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:00:03.097Z,1628906403.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,011A0,189,80,80,AB,FF
2021-08-14T02:00:03.097Z,1628906403.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:00:03.097Z,1628906403.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:00:03.099Z,1628906403.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:00:03.515Z,1628906403.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:00:04.330Z,1628906404.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BB,000,0118B,189,80,80,AF,FF
2021-08-14T02:00:04.330Z,1628906404.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:00:04.354Z,1628906404.354 [Micromodem](INFO): Nmea in: $SNTTA,0.156739,,,,020004.19*41

2021-08-14T02:00:04.841Z,1628906404.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.959976 m, bearing: 177.695800 deg, deltaT: 4.852340 s, approachRate: -0.259674 m/s, LOS rate: -0.591139 deg/s, posRepo size: 4
2021-08-14T02:00:04.843Z,1628906404.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.959976 m,
      bearing: 177.695800 deg,
      approachRate: -0.259674 m/s,
      LOS rate: -0.591139 deg/s,
      cmd update: -1.773416 deg/s,
      cmd heading: 51.588820 deg,
      new cmd heading: 46.317112 deg.

2021-08-14T02:00:07.178Z,1628906407.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:07.549Z,1628906407.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:00:07.549Z,1628906407.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:00:07.549Z,1628906407.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:00:07.550Z,1628906407.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:00:07.945Z,1628906407.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BB,000,0118B,189,80,80,AF,FF
2021-08-14T02:00:07.945Z,1628906407.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:00:07.945Z,1628906407.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:00:07.947Z,1628906407.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:00:08.367Z,1628906408.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:00:09.177Z,1628906409.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AA,000,01168,189,80,80,AA,FF
2021-08-14T02:00:09.177Z,1628906409.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:00:09.205Z,1628906409.205 [Micromodem](INFO): Nmea in: $SNTTA,,0.296659,,,020009.03*4F

2021-08-14T02:00:09.596Z,1628906409.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.859985 m, bearing: 172.366927 deg, deltaT: 4.830672 s, approachRate: -0.434720 m/s, LOS rate: -1.103133 deg/s, posRepo size: 4
2021-08-14T02:00:09.598Z,1628906409.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.859985 m,
      bearing: 172.366927 deg,
      approachRate: -0.434720 m/s,
      LOS rate: -1.103133 deg/s,
      cmd update: -3.309398 deg/s,
      cmd heading: 43.007510 deg,
      new cmd heading: 42.355529 deg.

2021-08-14T02:00:12.027Z,1628906412.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:12.393Z,1628906412.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:00:12.393Z,1628906412.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:00:12.393Z,1628906412.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:00:12.394Z,1628906412.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:00:12.793Z,1628906412.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AA,000,01168,189,80,80,AA,FF
2021-08-14T02:00:12.793Z,1628906412.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:00:12.794Z,1628906412.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:00:12.795Z,1628906412.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:00:13.205Z,1628906413.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:00:14.025Z,1628906414.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,0113A,186,80,80,A6,FF
2021-08-14T02:00:14.025Z,1628906414.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:00:14.028Z,1628906414.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020013.88*5E

2021-08-14T02:00:14.455Z,1628906414.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 227.100006 m, bearing: 175.900826 deg, deltaT: 4.861561 s, approachRate: -0.567715 m/s, LOS rate: 0.726906 deg/s, posRepo size: 4
2021-08-14T02:00:14.458Z,1628906414.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.100006 m,
      bearing: 175.900826 deg,
      approachRate: -0.567715 m/s,
      LOS rate: 0.726906 deg/s,
      cmd update: 2.180718 deg/s,
      cmd heading: 26.946838 deg,
      new cmd heading: 25.707730 deg.

2021-08-14T02:00:16.931Z,1628906416.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:17.233Z,1628906417.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:00:17.234Z,1628906417.234 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:00:17.234Z,1628906417.234 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:00:17.235Z,1628906417.235 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:00:17.645Z,1628906417.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,0113A,186,80,80,A6,FF
2021-08-14T02:00:17.645Z,1628906417.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:00:17.645Z,1628906417.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:00:17.647Z,1628906417.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:00:18.049Z,1628906418.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:00:18.457Z,1628906418.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,004C6,187,80,80,A4,FF
2021-08-14T02:00:18.457Z,1628906418.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:00:18.869Z,1628906418.869 [Micromodem](INFO): Nmea in: $SNTTA,0.149661,0.406774,,,020018.73*5A

2021-08-14T02:00:18.924Z,1628906418.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.820000 m, bearing: 176.354965 deg, deltaT: 4.413549 s, approachRate: -43.339272 m/s, LOS rate: 0.102897 deg/s, posRepo size: 4
2021-08-14T02:00:18.924Z,1628906418.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.82 m.
2021-08-14T02:00:18.927Z,1628906418.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.820000 m,
      bearing: 176.354965 deg,
      approachRate: -43.339272 m/s,
      LOS rate: 0.102897 deg/s,
      cmd update: 0.308690 deg/s,
      cmd heading: 36.537745 deg,
      new cmd heading: 37.507327 deg.

2021-08-14T02:00:19.315Z,1628906419.315 [PowerOnly](INFO): Powering up loadControl
2021-08-14T02:00:19.358Z,1628906419.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:00:19.358Z,1628906419.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:00:19.358Z,1628906419.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:00:19.359Z,1628906419.359 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:00:19.359Z,1628906419.359 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:00:19.359Z,1628906419.359 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:00:19.746Z,1628906419.746 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:00:19.746Z,1628906419.746 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:00:19.746Z,1628906419.746 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:00:19.747Z,1628906419.747 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:00:21.342Z,1628906421.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:21.747Z,1628906421.747 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:00:21.747Z,1628906421.747 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:00:21.748Z,1628906421.748 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:00:21.749Z,1628906421.749 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:00:22.113Z,1628906422.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,004C6,187,80,80,A4,FF
2021-08-14T02:00:22.113Z,1628906422.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:00:22.113Z,1628906422.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:00:22.115Z,1628906422.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:00:22.558Z,1628906422.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:00:23.330Z,1628906423.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,00FF7,188,80,80,2E,FF
2021-08-14T02:00:23.330Z,1628906423.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:00:23.335Z,1628906423.335 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020023.20*5F

2021-08-14T02:00:23.358Z,1628906423.358 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:00:23.768Z,1628906423.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.719986 m, bearing: 177.316232 deg, deltaT: 4.852454 s, approachRate: 35.425373 m/s, LOS rate: 0.198099 deg/s, posRepo size: 4
2021-08-14T02:00:23.770Z,1628906423.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.719986 m,
      bearing: 177.316232 deg,
      approachRate: 35.425373 m/s,
      LOS rate: 0.198099 deg/s,
      cmd update: 0.594298 deg/s,
      cmd heading: 38.042842 deg,
      new cmd heading: 38.170327 deg.

2021-08-14T02:00:24.170Z,1628906424.170 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:00:24.170Z,1628906424.170 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:00:24.170Z,1628906424.170 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:00:24.171Z,1628906424.171 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:00:24.171Z,1628906424.171 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:00:24.171Z,1628906424.171 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:00:24.535Z,1628906424.535 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:00:24.535Z,1628906424.535 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:00:24.535Z,1628906424.535 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:00:24.535Z,1628906424.535 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:00:26.155Z,1628906426.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:26.534Z,1628906426.534 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:00:26.534Z,1628906426.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:00:26.534Z,1628906426.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:00:26.535Z,1628906426.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:00:26.927Z,1628906426.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,00FF7,188,80,80,2E,FF
2021-08-14T02:00:26.927Z,1628906426.927 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:00:26.927Z,1628906426.927 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:00:26.929Z,1628906426.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:00:27.358Z,1628906427.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:00:28.166Z,1628906428.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BE1,000,010C2,189,80,80,2C,FF
2021-08-14T02:00:28.166Z,1628906428.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:00:28.189Z,1628906428.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020028.02*54

2021-08-14T02:00:28.583Z,1628906428.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.899994 m, bearing: 184.634179 deg, deltaT: 4.879235 s, approachRate: 2.496294 m/s, LOS rate: 1.499814 deg/s, posRepo size: 4
2021-08-14T02:00:28.607Z,1628906428.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.899994 m,
      bearing: 184.634179 deg,
      approachRate: 2.496294 m/s,
      LOS rate: 1.499814 deg/s,
      cmd update: 4.499443 deg/s,
      cmd heading: 40.940481 deg,
      new cmd heading: 41.150035 deg.

2021-08-14T02:00:31.039Z,1628906431.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:31.394Z,1628906431.394 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:00:31.394Z,1628906431.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:00:31.394Z,1628906431.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:00:31.395Z,1628906431.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:00:31.793Z,1628906431.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BE1,000,010C2,189,80,80,2C,FF
2021-08-14T02:00:31.793Z,1628906431.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:00:31.793Z,1628906431.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:00:31.795Z,1628906431.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:00:32.192Z,1628906432.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:00:33.023Z,1628906433.023 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020032.88*5D

2021-08-14T02:00:33.877Z,1628906433.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:34.609Z,1628906434.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,164,000,05EF5,187,80,80,3E,FF
2021-08-14T02:00:34.610Z,1628906434.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:00:35.084Z,1628906435.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1421.040039 m, bearing: 92.486779 deg, deltaT: 6.517162 s, approachRate: 184.304153 m/s, LOS rate: -14.139192 deg/s, posRepo size: 4
2021-08-14T02:00:35.085Z,1628906435.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.139192 deg/s. Setting heading cmd to target bearing of 92.486779deg and heading rate command to 0 deg/s.
2021-08-14T02:00:37.458Z,1628906437.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:37.841Z,1628906437.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:00:37.841Z,1628906437.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:00:37.841Z,1628906437.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:00:37.842Z,1628906437.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:00:38.245Z,1628906438.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
164,000,05EF5,187,80,80,3E,FF
2021-08-14T02:00:38.245Z,1628906438.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:00:38.246Z,1628906438.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:00:38.247Z,1628906438.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:00:38.669Z,1628906438.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:00:39.475Z,1628906439.475 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020039.33*56

2021-08-14T02:00:40.286Z,1628906440.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:41.881Z,1628906441.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,3E,FF
2021-08-14T02:00:41.882Z,1628906441.882 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,3E,FF
2021-08-14T02:00:41.882Z,1628906441.882 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:00:42.856Z,1628906442.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:43.161Z,1628906443.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:00:43.161Z,1628906443.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:00:43.161Z,1628906443.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:00:43.162Z,1628906443.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:00:43.185Z,1628906443.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,3E,FF
2021-08-14T02:00:43.185Z,1628906443.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:00:43.185Z,1628906443.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:00:43.187Z,1628906443.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:00:43.505Z,1628906443.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:00:44.749Z,1628906444.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020044.27*59

2021-08-14T02:00:45.539Z,1628906445.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:46.757Z,1628906446.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,3E,FF
2021-08-14T02:00:46.758Z,1628906446.758 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,3E,FF
2021-08-14T02:00:46.758Z,1628906446.758 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:00:48.393Z,1628906448.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:48.776Z,1628906448.776 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:00:48.776Z,1628906448.776 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:00:48.776Z,1628906448.776 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:00:48.777Z,1628906448.777 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:00:49.149Z,1628906449.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,3E,FF
2021-08-14T02:00:49.149Z,1628906449.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:00:49.149Z,1628906449.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:00:49.151Z,1628906449.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:00:49.584Z,1628906449.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:00:50.377Z,1628906450.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC3,000,010A5,188,80,80,8B,FF
2021-08-14T02:00:50.378Z,1628906450.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:00:50.380Z,1628906450.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020050.24*5F

2021-08-14T02:00:50.884Z,1628906450.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.159988 m, bearing: 128.396778 deg, deltaT: 15.644220 s, approachRate: -76.889740 m/s, LOS rate: 2.295416 deg/s, posRepo size: 4
2021-08-14T02:00:50.886Z,1628906450.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.159988 m,
      bearing: 128.396778 deg,
      approachRate: -76.889740 m/s,
      LOS rate: 2.295416 deg/s,
      cmd update: 6.886249 deg/s,
      cmd heading: 92.486779 deg,
      new cmd heading: 92.486779 deg.

2021-08-14T02:00:53.206Z,1628906453.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:53.593Z,1628906453.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:00:53.593Z,1628906453.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:00:53.593Z,1628906453.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:00:53.594Z,1628906453.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:00:54.002Z,1628906454.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC3,000,010A5,188,80,80,8B,FF
2021-08-14T02:00:54.002Z,1628906454.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:00:54.002Z,1628906454.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:00:54.004Z,1628906454.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:00:54.418Z,1628906454.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:00:55.233Z,1628906455.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBE,000,010A6,189,80,80,A7,FF
2021-08-14T02:00:55.234Z,1628906455.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:00:55.237Z,1628906455.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020055.09*55

2021-08-14T02:00:55.655Z,1628906455.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.219986 m, bearing: 132.602508 deg, deltaT: 4.888280 s, approachRate: 0.012274 m/s, LOS rate: 0.860370 deg/s, posRepo size: 4
2021-08-14T02:00:55.674Z,1628906455.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.219986 m,
      bearing: 132.602508 deg,
      approachRate: 0.012274 m/s,
      LOS rate: 0.860370 deg/s,
      cmd update: 2.581110 deg/s,
      cmd heading: 126.122055 deg,
      new cmd heading: 128.705094 deg.

2021-08-14T02:00:58.084Z,1628906458.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:00:58.449Z,1628906458.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:00:58.449Z,1628906458.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:00:58.449Z,1628906458.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:00:58.450Z,1628906458.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:00:58.853Z,1628906458.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBE,000,010A6,189,80,80,A7,FF
2021-08-14T02:00:58.853Z,1628906458.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:00:58.854Z,1628906458.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:00:58.855Z,1628906458.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:00:59.266Z,1628906459.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:01:00.106Z,1628906460.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0109D,189,80,80,9C,FF
2021-08-14T02:01:00.106Z,1628906460.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:01:00.109Z,1628906460.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020059.94*5D

2021-08-14T02:01:00.495Z,1628906460.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.679993 m, bearing: 187.375284 deg, deltaT: 4.878873 s, approachRate: -0.110680 m/s, LOS rate: 11.226522 deg/s, posRepo size: 4
2021-08-14T02:01:00.520Z,1628906460.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.679993 m,
      bearing: 187.375284 deg,
      approachRate: -0.110680 m/s,
      LOS rate: 11.226522 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 138.653088 deg,
      new cmd heading: 139.582621 deg.

2021-08-14T02:01:02.939Z,1628906462.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:01:03.293Z,1628906463.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:01:03.293Z,1628906463.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:01:03.293Z,1628906463.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:01:03.294Z,1628906463.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:01:03.703Z,1628906463.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0109D,189,80,80,9C,FF
2021-08-14T02:01:03.704Z,1628906463.704 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:01:03.704Z,1628906463.704 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:01:03.710Z,1628906463.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:01:04.119Z,1628906464.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:01:04.921Z,1628906464.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9C,000,01083,188,80,80,AF,FF
2021-08-14T02:01:04.922Z,1628906464.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:01:04.925Z,1628906464.925 [Micromodem](INFO): Nmea in: $SNTTA,0.146162,,,,020104.80*49

2021-08-14T02:01:05.374Z,1628906465.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.119995 m, bearing: 188.053645 deg, deltaT: 4.856175 s, approachRate: -0.321240 m/s, LOS rate: 0.139690 deg/s, posRepo size: 4
2021-08-14T02:01:05.377Z,1628906465.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.119995 m,
      bearing: 188.053645 deg,
      approachRate: -0.321240 m/s,
      LOS rate: 0.139690 deg/s,
      cmd update: 0.419071 deg/s,
      cmd heading: 197.216318 deg,
      new cmd heading: 201.352694 deg.

2021-08-14T02:01:07.787Z,1628906467.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:01:08.144Z,1628906468.144 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:01:08.145Z,1628906468.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:01:08.145Z,1628906468.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:01:08.146Z,1628906468.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:01:08.541Z,1628906468.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9C,000,01083,188,80,80,AF,FF
2021-08-14T02:01:08.541Z,1628906468.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:01:08.542Z,1628906468.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:01:08.543Z,1628906468.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:01:08.959Z,1628906468.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:01:09.785Z,1628906469.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,225,000,01061,189,80,80,A6,FF
2021-08-14T02:01:09.786Z,1628906469.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:01:09.789Z,1628906469.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020109.63*51

2021-08-14T02:01:10.187Z,1628906470.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.080002 m, bearing: 138.374387 deg, deltaT: 4.794891 s, approachRate: -0.425451 m/s, LOS rate: -10.360874 deg/s, posRepo size: 4
2021-08-14T02:01:10.190Z,1628906470.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.080002 m,
      bearing: 138.374387 deg,
      approachRate: -0.425451 m/s,
      LOS rate: -10.360874 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 199.227386 deg,
      new cmd heading: 199.383748 deg.

2021-08-14T02:01:12.663Z,1628906472.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:01:12.983Z,1628906472.983 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:01:12.983Z,1628906472.983 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:01:12.983Z,1628906472.983 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:01:12.984Z,1628906472.984 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:01:13.389Z,1628906473.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
225,000,01061,189,80,80,A6,FF
2021-08-14T02:01:13.389Z,1628906473.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:01:13.390Z,1628906473.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:01:13.391Z,1628906473.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:01:13.803Z,1628906473.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:01:14.631Z,1628906474.631 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,01039,187,80,80,A9,FF
2021-08-14T02:01:14.633Z,1628906474.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:01:14.642Z,1628906474.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020114.48*54

2021-08-14T02:01:15.079Z,1628906475.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.679977 m, bearing: 190.495957 deg, deltaT: 4.929059 s, approachRate: -0.486913 m/s, LOS rate: 10.574345 deg/s, posRepo size: 4
2021-08-14T02:01:15.081Z,1628906475.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.679977 m,
      bearing: 190.495957 deg,
      approachRate: -0.486913 m/s,
      LOS rate: 10.574345 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 140.492425 deg,
      new cmd heading: 136.049797 deg.

2021-08-14T02:01:17.450Z,1628906477.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:01:17.833Z,1628906477.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:01:17.833Z,1628906477.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:01:17.833Z,1628906477.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:01:17.834Z,1628906477.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:01:18.234Z,1628906478.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,01039,187,80,80,A9,FF
2021-08-14T02:01:18.234Z,1628906478.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:01:18.234Z,1628906478.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:01:18.235Z,1628906478.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:01:18.675Z,1628906478.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:01:19.477Z,1628906479.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,0100B,186,80,80,9C,FF
2021-08-14T02:01:19.477Z,1628906479.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:01:19.480Z,1628906479.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020119.32*54

2021-08-14T02:01:19.907Z,1628906479.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.919983 m, bearing: 186.898537 deg, deltaT: 4.752624 s, approachRate: -0.580731 m/s, LOS rate: -0.756933 deg/s, posRepo size: 4
2021-08-14T02:01:19.910Z,1628906479.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.919983 m,
      bearing: 186.898537 deg,
      approachRate: -0.580731 m/s,
      LOS rate: -0.756933 deg/s,
      cmd update: -2.270800 deg/s,
      cmd heading: 197.930439 deg,
      new cmd heading: 202.874307 deg.

2021-08-14T02:01:22.318Z,1628906482.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:01:22.734Z,1628906482.734 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:01:22.734Z,1628906482.734 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:01:22.735Z,1628906482.735 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:01:22.735Z,1628906482.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:01:23.085Z,1628906483.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,0100B,186,80,80,9C,FF
2021-08-14T02:01:23.085Z,1628906483.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:01:23.086Z,1628906483.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:01:23.087Z,1628906483.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:01:23.500Z,1628906483.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:01:24.322Z,1628906484.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,00FDA,186,80,80,99,FF
2021-08-14T02:01:24.323Z,1628906484.323 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:01:24.328Z,1628906484.328 [Micromodem](INFO): Nmea in: $SNTTA,0.139352,,,,020124.17*4C

2021-08-14T02:01:24.812Z,1628906484.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.979996 m, bearing: 191.485036 deg, deltaT: 4.882504 s, approachRate: -0.602147 m/s, LOS rate: 0.939374 deg/s, posRepo size: 4
2021-08-14T02:01:24.814Z,1628906484.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.979996 m,
      bearing: 191.485036 deg,
      approachRate: -0.602147 m/s,
      LOS rate: 0.939374 deg/s,
      cmd update: 2.818123 deg/s,
      cmd heading: 186.851118 deg,
      new cmd heading: 185.858477 deg.

2021-08-14T02:01:27.162Z,1628906487.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:01:27.533Z,1628906487.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:01:27.533Z,1628906487.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:01:27.533Z,1628906487.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:01:27.534Z,1628906487.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:01:27.941Z,1628906487.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,00FDA,186,80,80,99,FF
2021-08-14T02:01:27.942Z,1628906487.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:01:27.942Z,1628906487.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:01:27.943Z,1628906487.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:01:28.349Z,1628906488.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:01:29.169Z,1628906489.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,00FA7,185,80,80,B3,FF
2021-08-14T02:01:29.169Z,1628906489.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:01:29.172Z,1628906489.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020129.03*55

2021-08-14T02:01:29.590Z,1628906489.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.919998 m, bearing: 190.498976 deg, deltaT: 4.817794 s, approachRate: -0.635145 m/s, LOS rate: -0.204671 deg/s, posRepo size: 4
2021-08-14T02:01:29.593Z,1628906489.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.919998 m,
      bearing: 190.498976 deg,
      approachRate: -0.635145 m/s,
      LOS rate: -0.204671 deg/s,
      cmd update: -0.614012 deg/s,
      cmd heading: 200.439799 deg,
      new cmd heading: 201.550086 deg.

2021-08-14T02:01:32.018Z,1628906492.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:01:32.389Z,1628906492.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:01:32.389Z,1628906492.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:01:32.389Z,1628906492.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:01:32.390Z,1628906492.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:01:32.785Z,1628906492.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,00FA7,185,80,80,B3,FF
2021-08-14T02:01:32.785Z,1628906492.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:01:32.786Z,1628906492.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:01:32.787Z,1628906492.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:01:33.214Z,1628906493.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:01:34.021Z,1628906494.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,00F74,186,80,80,93,FF
2021-08-14T02:01:34.021Z,1628906494.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:01:34.024Z,1628906494.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020133.87*52

2021-08-14T02:01:34.439Z,1628906494.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.860001 m, bearing: 187.181143 deg, deltaT: 4.894935 s, approachRate: -0.625135 m/s, LOS rate: -0.677809 deg/s, posRepo size: 4
2021-08-14T02:01:34.441Z,1628906494.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.860001 m,
      bearing: 187.181143 deg,
      approachRate: -0.625135 m/s,
      LOS rate: -0.677809 deg/s,
      cmd update: -2.033428 deg/s,
      cmd heading: 197.434451 deg,
      new cmd heading: 197.220643 deg.

2021-08-14T02:01:36.887Z,1628906496.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:01:37.241Z,1628906497.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:01:37.242Z,1628906497.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:01:37.242Z,1628906497.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:01:37.243Z,1628906497.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:01:37.661Z,1628906497.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19A,000,00F74,186,80,80,93,FF
2021-08-14T02:01:37.661Z,1628906497.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:01:37.661Z,1628906497.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:01:37.663Z,1628906497.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:01:38.039Z,1628906498.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:01:38.869Z,1628906498.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,00F44,185,80,80,8B,FF
2021-08-14T02:01:38.869Z,1628906498.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:01:38.872Z,1628906498.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020138.75*54

2021-08-14T02:01:39.295Z,1628906499.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.979996 m, bearing: 185.292145 deg, deltaT: 4.874682 s, approachRate: -0.590809 m/s, LOS rate: -0.387512 deg/s, posRepo size: 4
2021-08-14T02:01:39.297Z,1628906499.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.979996 m,
      bearing: 185.292145 deg,
      approachRate: -0.590809 m/s,
      LOS rate: -0.387512 deg/s,
      cmd update: -1.162536 deg/s,
      cmd heading: 187.521447 deg,
      new cmd heading: 186.851949 deg.

2021-08-14T02:01:41.729Z,1628906501.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:01:42.082Z,1628906502.082 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:01:42.082Z,1628906502.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:01:42.082Z,1628906502.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:01:42.083Z,1628906502.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:01:42.486Z,1628906502.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,00F44,185,80,80,8B,FF
2021-08-14T02:01:42.486Z,1628906502.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:01:42.486Z,1628906502.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:01:42.488Z,1628906502.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:01:42.903Z,1628906502.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:01:43.714Z,1628906503.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,00F0F,186,80,80,9F,FF
2021-08-14T02:01:43.716Z,1628906503.716 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:01:43.727Z,1628906503.727 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020143.57*58

2021-08-14T02:01:44.135Z,1628906504.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.799988 m, bearing: 188.766539 deg, deltaT: 4.827743 s, approachRate: -0.658695 m/s, LOS rate: 0.719673 deg/s, posRepo size: 4
2021-08-14T02:01:44.137Z,1628906504.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.799988 m,
      bearing: 188.766539 deg,
      approachRate: -0.658695 m/s,
      LOS rate: 0.719673 deg/s,
      cmd update: 2.159018 deg/s,
      cmd heading: 181.909046 deg,
      new cmd heading: 181.512063 deg.

2021-08-14T02:01:46.538Z,1628906506.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:01:46.921Z,1628906506.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:01:46.921Z,1628906506.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:01:46.921Z,1628906506.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:01:46.922Z,1628906506.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:01:47.326Z,1628906507.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,00F0F,186,80,80,9F,FF
2021-08-14T02:01:47.326Z,1628906507.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:01:47.327Z,1628906507.327 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:01:47.330Z,1628906507.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:01:47.763Z,1628906507.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:01:48.563Z,1628906508.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,00EDD,184,80,80,9D,FF
2021-08-14T02:01:48.563Z,1628906508.563 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:01:48.567Z,1628906508.567 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020148.42*57

2021-08-14T02:01:49.013Z,1628906509.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.799988 m, bearing: 190.205332 deg, deltaT: 4.856457 s, approachRate: -0.617734 m/s, LOS rate: 0.296264 deg/s, posRepo size: 4
2021-08-14T02:01:49.015Z,1628906509.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.799988 m,
      bearing: 190.205332 deg,
      approachRate: -0.617734 m/s,
      LOS rate: 0.296264 deg/s,
      cmd update: 0.888792 deg/s,
      cmd heading: 192.333167 deg,
      new cmd heading: 193.176050 deg.

2021-08-14T02:01:51.405Z,1628906511.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:01:51.785Z,1628906511.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:01:51.785Z,1628906511.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:01:51.785Z,1628906511.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:01:51.786Z,1628906511.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:01:52.182Z,1628906512.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,00EDD,184,80,80,9D,FF
2021-08-14T02:01:52.182Z,1628906512.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:01:52.182Z,1628906512.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:01:52.184Z,1628906512.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:01:52.589Z,1628906512.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:01:53.009Z,1628906513.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,105,000,00EDD,184,80,80,9D,FF
2021-08-14T02:01:53.010Z,1628906513.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:01:53.433Z,1628906513.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020153.27*5E

2021-08-14T02:01:53.487Z,1628906513.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.799988 m, bearing: 186.001556 deg, deltaT: 4.446128 s, approachRate: 0.000000 m/s, LOS rate: -0.945492 deg/s, posRepo size: 4
2021-08-14T02:01:53.508Z,1628906513.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.799988 m,
      bearing: 186.001556 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.945492 deg/s,
      cmd update: -2.836475 deg/s,
      cmd heading: 196.306322 deg,
      new cmd heading: 196.655986 deg.

2021-08-14T02:01:55.893Z,1628906515.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:01:56.229Z,1628906516.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:01:56.229Z,1628906516.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:01:56.230Z,1628906516.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:01:56.231Z,1628906516.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:01:56.638Z,1628906516.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
105,000,00EDD,184,80,80,9D,FF
2021-08-14T02:01:56.638Z,1628906516.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:01:56.639Z,1628906516.639 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:01:56.648Z,1628906516.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:01:57.041Z,1628906517.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:01:57.863Z,1628906517.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13E,000,00E79,185,80,80,A5,FF
2021-08-14T02:01:57.863Z,1628906517.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:01:57.866Z,1628906517.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020157.74*5C

2021-08-14T02:01:58.291Z,1628906518.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.800003 m, bearing: 185.665019 deg, deltaT: 4.796120 s, approachRate: -1.251008 m/s, LOS rate: -0.070169 deg/s, posRepo size: 4
2021-08-14T02:01:58.293Z,1628906518.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.800003 m,
      bearing: 185.665019 deg,
      approachRate: -1.251008 m/s,
      LOS rate: -0.070169 deg/s,
      cmd update: -0.210506 deg/s,
      cmd heading: 182.690599 deg,
      new cmd heading: 181.559195 deg.

2021-08-14T02:02:00.825Z,1628906520.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:02:01.077Z,1628906521.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:02:01.077Z,1628906521.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:02:01.077Z,1628906521.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:02:01.078Z,1628906521.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:02:01.481Z,1628906521.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13E,000,00E79,185,80,80,A5,FF
2021-08-14T02:02:01.481Z,1628906521.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:02:01.481Z,1628906521.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:02:01.483Z,1628906521.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:02:01.897Z,1628906521.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:02:02.758Z,1628906522.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020202.57*5E

2021-08-14T02:02:02.782Z,1628906522.782 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T02:02:03.507Z,1628906523.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,0371C,185,80,80,99,FF
2021-08-14T02:02:03.507Z,1628906523.507 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:02:03.949Z,1628906523.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 808.980103 m, bearing: 189.528392 deg, deltaT: 5.631330 s, approachRate: 110.840622 m/s, LOS rate: 0.686050 deg/s, posRepo size: 4
2021-08-14T02:02:03.951Z,1628906523.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 808.980103 m,
      bearing: 189.528392 deg,
      approachRate: 110.840622 m/s,
      LOS rate: 0.686050 deg/s,
      cmd update: 2.058150 deg/s,
      cmd heading: 181.505243 deg,
      new cmd heading: 181.415811 deg.

2021-08-14T02:02:06.387Z,1628906526.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:02:06.769Z,1628906526.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:02:06.769Z,1628906526.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:02:06.769Z,1628906526.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:02:06.770Z,1628906526.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:02:07.145Z,1628906527.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,0371C,185,80,80,99,FF
2021-08-14T02:02:07.145Z,1628906527.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:02:07.145Z,1628906527.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:02:07.147Z,1628906527.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:02:07.548Z,1628906527.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:02:08.397Z,1628906528.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00E0C,184,80,80,BA,FF
2021-08-14T02:02:08.397Z,1628906528.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:02:08.400Z,1628906528.400 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020208.23*57

2021-08-14T02:02:08.854Z,1628906528.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.260010 m, bearing: 190.074152 deg, deltaT: 4.891337 s, approachRate: -128.946365 m/s, LOS rate: 0.111577 deg/s, posRepo size: 4
2021-08-14T02:02:08.873Z,1628906528.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.260010 m,
      bearing: 190.074152 deg,
      approachRate: -128.946365 m/s,
      LOS rate: 0.111577 deg/s,
      cmd update: 0.334730 deg/s,
      cmd heading: 191.573031 deg,
      new cmd heading: 192.476631 deg.

2021-08-14T02:02:11.199Z,1628906531.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:02:11.589Z,1628906531.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:02:11.589Z,1628906531.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:02:11.590Z,1628906531.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:02:11.591Z,1628906531.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:02:11.993Z,1628906531.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,00E0C,184,80,80,BA,FF
2021-08-14T02:02:11.993Z,1628906531.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:02:11.993Z,1628906531.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:02:11.995Z,1628906531.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:02:12.398Z,1628906532.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:02:12.794Z,1628906532.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00E0C,184,80,80,BA,FF
2021-08-14T02:02:12.794Z,1628906532.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:02:12.830Z,1628906532.830 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:02:13.237Z,1628906533.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020213.08*54

2021-08-14T02:02:13.259Z,1628906533.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.260010 m, bearing: 196.783938 deg, deltaT: 4.463860 s, approachRate: 0.000000 m/s, LOS rate: 1.503136 deg/s, posRepo size: 4
2021-08-14T02:02:13.262Z,1628906533.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.260010 m,
      bearing: 196.783938 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.503136 deg/s,
      cmd update: 4.509407 deg/s,
      cmd heading: 193.067231 deg,
      new cmd heading: 193.194538 deg.

2021-08-14T02:02:15.662Z,1628906535.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:02:16.025Z,1628906536.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:02:16.025Z,1628906536.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:02:16.025Z,1628906536.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:02:16.026Z,1628906536.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:02:16.442Z,1628906536.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,00E0C,184,80,80,BA,FF
2021-08-14T02:02:16.442Z,1628906536.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:02:16.442Z,1628906536.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:02:16.445Z,1628906536.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:02:16.837Z,1628906536.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:02:17.242Z,1628906537.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11B,000,00E0C,184,80,80,BA,FF
2021-08-14T02:02:17.242Z,1628906537.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:02:17.681Z,1628906537.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020217.53*5E

2021-08-14T02:02:17.759Z,1628906537.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.260010 m, bearing: 188.906053 deg, deltaT: 4.410923 s, approachRate: 0.000000 m/s, LOS rate: -1.785995 deg/s, posRepo size: 4
2021-08-14T02:02:17.766Z,1628906537.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.260010 m,
      bearing: 188.906053 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.785995 deg/s,
      cmd update: -5.357985 deg/s,
      cmd heading: 212.842251 deg,
      new cmd heading: 215.075656 deg.

2021-08-14T02:02:20.104Z,1628906540.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:02:20.462Z,1628906540.462 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:02:20.462Z,1628906540.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:02:20.463Z,1628906540.463 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:02:20.463Z,1628906540.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:02:20.873Z,1628906540.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11B,000,00E0C,184,80,80,BA,FF
2021-08-14T02:02:20.873Z,1628906540.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:02:20.874Z,1628906540.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:02:20.875Z,1628906540.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:02:21.288Z,1628906541.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:02:22.118Z,1628906542.118 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020221.96*52

2021-08-14T02:02:22.948Z,1628906542.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:02:24.509Z,1628906544.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,BA,FF
2021-08-14T02:02:24.509Z,1628906544.509 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,BA,FF
2021-08-14T02:02:24.510Z,1628906544.510 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:02:24.929Z,1628906544.929 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-14T02:02:25.786Z,1628906545.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:02:26.125Z,1628906546.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:02:26.125Z,1628906546.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:02:26.125Z,1628906546.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:02:26.126Z,1628906546.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:02:26.529Z,1628906546.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,BA,FF
2021-08-14T02:02:26.529Z,1628906546.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:02:26.529Z,1628906546.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:02:26.531Z,1628906546.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:02:26.948Z,1628906546.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:02:26.991Z,1628906546.991 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:02:26.996Z,1628906546.996 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T02:02:27.350Z,1628906547.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,00D4D,186,80,80,BA,FF
2021-08-14T02:02:27.350Z,1628906547.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:02:27.802Z,1628906547.802 [Micromodem](INFO): Nmea in: $SNTTA,0.117062,,,,020227.62*42

2021-08-14T02:02:27.828Z,1628906547.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.800003 m, bearing: 188.867995 deg, deltaT: 10.082287 s, approachRate: -1.136648 m/s, LOS rate: -0.003775 deg/s, posRepo size: 4
2021-08-14T02:02:27.830Z,1628906547.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.800003 m,
      bearing: 188.867995 deg,
      approachRate: -1.136648 m/s,
      LOS rate: -0.003775 deg/s,
      cmd update: -0.011324 deg/s,
      cmd heading: 158.684380 deg,
      new cmd heading: 156.244172 deg.

2021-08-14T02:02:30.186Z,1628906550.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:02:30.578Z,1628906550.578 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:02:30.578Z,1628906550.578 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:02:30.578Z,1628906550.578 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:02:30.579Z,1628906550.579 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:02:30.981Z,1628906550.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,00D4D,186,80,80,BA,FF
2021-08-14T02:02:30.981Z,1628906550.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:02:30.982Z,1628906550.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:02:30.983Z,1628906550.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:02:31.388Z,1628906551.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:02:31.794Z,1628906551.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,005DD,184,80,80,AF,FF
2021-08-14T02:02:31.794Z,1628906551.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:02:32.225Z,1628906552.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020232.07*58

2021-08-14T02:02:32.247Z,1628906552.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.559998 m, bearing: 188.244562 deg, deltaT: 4.450036 s, approachRate: -25.671703 m/s, LOS rate: -0.140096 deg/s, posRepo size: 4
2021-08-14T02:02:32.250Z,1628906552.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.559998 m,
      bearing: 188.244562 deg,
      approachRate: -25.671703 m/s,
      LOS rate: -0.140096 deg/s,
      cmd update: -0.420288 deg/s,
      cmd heading: 158.633987 deg,
      new cmd heading: 158.629171 deg.

2021-08-14T02:02:33.035Z,1628906553.035 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T02:02:34.729Z,1628906554.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:02:35.009Z,1628906555.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:02:35.009Z,1628906555.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:02:35.009Z,1628906555.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:02:35.010Z,1628906555.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:02:35.417Z,1628906555.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,005DD,184,80,80,AF,FF
2021-08-14T02:02:35.417Z,1628906555.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:02:35.417Z,1628906555.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:02:35.419Z,1628906555.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:02:35.825Z,1628906555.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:02:36.233Z,1628906556.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,00CF9,186,80,80,AF,FF
2021-08-14T02:02:36.234Z,1628906556.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:02:36.685Z,1628906556.685 [Micromodem](INFO): Nmea in: $SNTTA,0.181057,,,,020236.51*4B

2021-08-14T02:02:36.806Z,1628906556.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.759995 m, bearing: 192.533675 deg, deltaT: 4.451280 s, approachRate: 24.532269 m/s, LOS rate: 0.963568 deg/s, posRepo size: 4
2021-08-14T02:02:36.812Z,1628906556.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.759995 m,
      bearing: 192.533675 deg,
      approachRate: 24.532269 m/s,
      LOS rate: 0.963568 deg/s,
      cmd update: 2.890705 deg/s,
      cmd heading: 156.771561 deg,
      new cmd heading: 156.546633 deg.

2021-08-14T02:02:38.798Z,1628906558.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:02:39.061Z,1628906559.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:02:39.061Z,1628906559.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:02:39.061Z,1628906559.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:02:39.062Z,1628906559.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:02:39.462Z,1628906559.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,00CF9,186,80,80,AF,FF
2021-08-14T02:02:39.462Z,1628906559.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:02:39.462Z,1628906559.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:02:39.463Z,1628906559.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:02:39.882Z,1628906559.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:02:40.266Z,1628906560.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,00CD5,186,80,80,AF,FF
2021-08-14T02:02:40.266Z,1628906560.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:02:40.749Z,1628906560.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020240.55*5A

2021-08-14T02:02:40.805Z,1628906560.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.600006 m, bearing: 135.063262 deg, deltaT: 4.045056 s, approachRate: -0.533982 m/s, LOS rate: -14.207570 deg/s, posRepo size: 4
2021-08-14T02:02:40.805Z,1628906560.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.207570 deg/s. Setting heading cmd to target bearing of 135.063262deg and heading rate command to 0 deg/s.
2021-08-14T02:02:43.130Z,1628906563.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:02:43.501Z,1628906563.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:02:43.501Z,1628906563.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:02:43.501Z,1628906563.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:02:43.502Z,1628906563.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:02:43.917Z,1628906563.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,00CD5,186,80,80,AF,FF
2021-08-14T02:02:43.917Z,1628906563.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:02:43.918Z,1628906563.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:02:43.919Z,1628906563.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:02:44.310Z,1628906564.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:02:44.765Z,1628906564.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18C,000,00CB3,186,80,80,9E,FF
2021-08-14T02:02:44.766Z,1628906564.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:02:44.788Z,1628906564.788 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T02:02:45.145Z,1628906565.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020245.01*5E

2021-08-14T02:02:45.188Z,1628906565.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.560013 m, bearing: 136.554592 deg, deltaT: 4.537490 s, approachRate: -0.449586 m/s, LOS rate: 0.328669 deg/s, posRepo size: 4
2021-08-14T02:02:45.190Z,1628906565.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.560013 m,
      bearing: 136.554592 deg,
      approachRate: -0.449586 m/s,
      LOS rate: 0.328669 deg/s,
      cmd update: 0.986006 deg/s,
      cmd heading: 135.063262 deg,
      new cmd heading: 135.063262 deg.

2021-08-14T02:02:47.568Z,1628906567.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:02:47.946Z,1628906567.946 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:02:47.947Z,1628906567.947 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:02:47.947Z,1628906567.947 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:02:47.948Z,1628906567.948 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:02:48.346Z,1628906568.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18C,000,00CB3,186,80,80,9E,FF
2021-08-14T02:02:48.346Z,1628906568.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:02:48.346Z,1628906568.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:02:48.347Z,1628906568.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:02:48.792Z,1628906568.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:02:49.157Z,1628906569.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C14,000,00C8F,189,80,80,9E,FF
2021-08-14T02:02:49.158Z,1628906569.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:02:49.605Z,1628906569.605 [Micromodem](INFO): Nmea in: $SNTTA,0.105619,,,,020249.44*47

2021-08-14T02:02:49.639Z,1628906569.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.400009 m, bearing: 196.648058 deg, deltaT: 4.322078 s, approachRate: -0.499760 m/s, LOS rate: 13.903836 deg/s, posRepo size: 4
2021-08-14T02:02:49.640Z,1628906569.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.903836 deg/s. Setting heading cmd to target bearing of 196.648058deg and heading rate command to 0 deg/s.
2021-08-14T02:02:52.053Z,1628906572.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:02:52.389Z,1628906572.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:02:52.389Z,1628906572.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:02:52.389Z,1628906572.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:02:52.390Z,1628906572.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:02:52.802Z,1628906572.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C14,000,00C8F,189,80,80,9E,FF
2021-08-14T02:02:52.802Z,1628906572.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:02:52.802Z,1628906572.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:02:52.806Z,1628906572.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:02:53.202Z,1628906573.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:02:53.614Z,1628906573.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B58,000,00C71,189,80,80,9E,FF
2021-08-14T02:02:53.614Z,1628906573.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:02:54.030Z,1628906574.030 [Micromodem](INFO): Nmea in: $SNTTA,0.278611,,,,020253.89*4C

2021-08-14T02:02:54.057Z,1628906574.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.599991 m, bearing: 195.569503 deg, deltaT: 4.466833 s, approachRate: -0.402974 m/s, LOS rate: -0.241459 deg/s, posRepo size: 4
2021-08-14T02:02:54.059Z,1628906574.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.599991 m,
      bearing: 195.569503 deg,
      approachRate: -0.402974 m/s,
      LOS rate: -0.241459 deg/s,
      cmd update: -0.724376 deg/s,
      cmd heading: 196.648058 deg,
      new cmd heading: 196.648058 deg.

2021-08-14T02:02:56.451Z,1628906576.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:02:56.829Z,1628906576.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:02:56.829Z,1628906576.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:02:56.829Z,1628906576.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:02:56.830Z,1628906576.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:02:57.237Z,1628906577.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B58,000,00C71,189,80,80,9E,FF
2021-08-14T02:02:57.237Z,1628906577.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:02:57.237Z,1628906577.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:02:57.239Z,1628906577.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:02:57.645Z,1628906577.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:02:58.046Z,1628906578.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB9,000,00C57,189,80,80,9E,FF
2021-08-14T02:02:58.046Z,1628906578.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:02:58.490Z,1628906578.490 [Micromodem](INFO): Nmea in: $SNTTA,0.399281,,,,020258.33*45

2021-08-14T02:02:58.522Z,1628906578.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.040009 m, bearing: 190.391277 deg, deltaT: 4.470549 s, approachRate: -0.348946 m/s, LOS rate: -1.158298 deg/s, posRepo size: 4
2021-08-14T02:02:58.545Z,1628906578.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.040009 m,
      bearing: 190.391277 deg,
      approachRate: -0.348946 m/s,
      LOS rate: -1.158298 deg/s,
      cmd update: -3.474892 deg/s,
      cmd heading: 193.410505 deg,
      new cmd heading: 193.113066 deg.

2021-08-14T02:03:00.952Z,1628906580.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:01.278Z,1628906581.278 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:03:01.278Z,1628906581.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:03:01.278Z,1628906581.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:03:01.279Z,1628906581.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:03:01.677Z,1628906581.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB9,000,00C57,189,80,80,9E,FF
2021-08-14T02:03:01.677Z,1628906581.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:03:01.677Z,1628906581.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:03:01.679Z,1628906581.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:03:02.084Z,1628906582.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:03:02.496Z,1628906582.496 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,00C3A,187,80,80,A7,FF
2021-08-14T02:03:02.497Z,1628906582.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:03:02.930Z,1628906582.930 [Micromodem](INFO): Nmea in: $SNTTA,0.110101,,,,020302.77*43

2021-08-14T02:03:02.969Z,1628906582.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.300003 m, bearing: 141.099988 deg, deltaT: 4.398016 s, approachRate: -0.395634 m/s, LOS rate: -11.207620 deg/s, posRepo size: 4
2021-08-14T02:03:02.971Z,1628906582.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.300003 m,
      bearing: 141.099988 deg,
      approachRate: -0.395634 m/s,
      LOS rate: -11.207620 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 178.113567 deg,
      new cmd heading: 176.531789 deg.

2021-08-14T02:03:05.342Z,1628906585.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:05.728Z,1628906585.728 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:03:05.728Z,1628906585.728 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:03:05.729Z,1628906585.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:03:05.730Z,1628906585.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:03:06.121Z,1628906586.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F9,000,00C3A,187,80,80,A7,FF
2021-08-14T02:03:06.121Z,1628906586.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:03:06.121Z,1628906586.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:03:06.123Z,1628906586.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:03:06.533Z,1628906586.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:03:06.941Z,1628906586.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,00C14,186,80,80,AB,FF
2021-08-14T02:03:06.941Z,1628906586.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:03:07.373Z,1628906587.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020307.21*5B

2021-08-14T02:03:07.395Z,1628906587.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.020004 m, bearing: 199.627797 deg, deltaT: 4.507500 s, approachRate: -0.505823 m/s, LOS rate: 12.984539 deg/s, posRepo size: 4
2021-08-14T02:03:07.396Z,1628906587.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.984539 deg/s. Setting heading cmd to target bearing of 199.627797deg and heading rate command to 0 deg/s.
2021-08-14T02:03:07.796Z,1628906587.796 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T02:03:09.811Z,1628906589.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:10.161Z,1628906590.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:03:10.161Z,1628906590.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:03:10.161Z,1628906590.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:03:10.162Z,1628906590.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:03:10.565Z,1628906590.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,00C14,186,80,80,AB,FF
2021-08-14T02:03:10.565Z,1628906590.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:03:10.565Z,1628906590.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:03:10.567Z,1628906590.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:03:10.985Z,1628906590.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:03:11.385Z,1628906591.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,00BEC,186,80,80,9F,FF
2021-08-14T02:03:11.386Z,1628906591.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:03:11.814Z,1628906591.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020311.65*5C

2021-08-14T02:03:11.841Z,1628906591.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.619995 m, bearing: 137.816292 deg, deltaT: 4.405302 s, approachRate: -0.544800 m/s, LOS rate: -14.031162 deg/s, posRepo size: 4
2021-08-14T02:03:11.841Z,1628906591.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.031162 deg/s. Setting heading cmd to target bearing of 137.816292deg and heading rate command to 0 deg/s.
2021-08-14T02:03:13.015Z,1628906593.015 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T02:03:14.238Z,1628906594.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:14.630Z,1628906594.630 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:03:14.630Z,1628906594.630 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:03:14.631Z,1628906594.631 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:03:14.637Z,1628906594.637 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:03:15.021Z,1628906595.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,00BEC,186,80,80,9F,FF
2021-08-14T02:03:15.021Z,1628906595.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:03:15.021Z,1628906595.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:03:15.023Z,1628906595.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:03:15.416Z,1628906595.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:03:15.822Z,1628906595.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C20,000,00BCB,189,80,80,9F,FF
2021-08-14T02:03:15.822Z,1628906595.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:03:16.253Z,1628906596.253 [Micromodem](INFO): Nmea in: $SNTTA,0.386293,,,,020316.11*43

2021-08-14T02:03:16.295Z,1628906596.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.639999 m, bearing: 199.290290 deg, deltaT: 4.454585 s, approachRate: -0.444485 m/s, LOS rate: 13.800162 deg/s, posRepo size: 4
2021-08-14T02:03:16.296Z,1628906596.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.800162 deg/s. Setting heading cmd to target bearing of 199.290290deg and heading rate command to 0 deg/s.
2021-08-14T02:03:17.064Z,1628906597.064 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T02:03:18.783Z,1628906598.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:19.050Z,1628906599.050 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:03:19.050Z,1628906599.050 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:03:19.050Z,1628906599.050 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:03:19.051Z,1628906599.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:03:19.461Z,1628906599.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C20,000,00BCB,189,80,80,9F,FF
2021-08-14T02:03:19.461Z,1628906599.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:03:19.461Z,1628906599.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:03:19.463Z,1628906599.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:03:19.861Z,1628906599.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:03:20.273Z,1628906600.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BBF,000,00BAF,189,80,80,AD,FF
2021-08-14T02:03:20.274Z,1628906600.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:03:20.761Z,1628906600.761 [Micromodem](INFO): Nmea in: $SNTTA,0.094352,,,,020320.55*4A

2021-08-14T02:03:20.833Z,1628906600.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.960007 m, bearing: 201.633222 deg, deltaT: 4.436403 s, approachRate: -0.378684 m/s, LOS rate: 0.528115 deg/s, posRepo size: 4
2021-08-14T02:03:20.835Z,1628906600.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.960007 m,
      bearing: 201.633222 deg,
      approachRate: -0.378684 m/s,
      LOS rate: 0.528115 deg/s,
      cmd update: 1.584346 deg/s,
      cmd heading: 199.290290 deg,
      new cmd heading: 199.290290 deg.

2021-08-14T02:03:22.854Z,1628906602.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:23.097Z,1628906603.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:03:23.097Z,1628906603.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:03:23.097Z,1628906603.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:03:23.098Z,1628906603.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:03:23.497Z,1628906603.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BBF,000,00BAF,189,80,80,AD,FF
2021-08-14T02:03:23.497Z,1628906603.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:03:23.497Z,1628906603.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:03:23.499Z,1628906603.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:03:23.900Z,1628906603.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:03:24.318Z,1628906604.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D08,000,00B91,189,80,80,98,FF
2021-08-14T02:03:24.318Z,1628906604.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:03:24.789Z,1628906604.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020324.59*55

2021-08-14T02:03:24.871Z,1628906604.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.160004 m, bearing: 195.139420 deg, deltaT: 4.044741 s, approachRate: -0.445023 m/s, LOS rate: -1.605493 deg/s, posRepo size: 4
2021-08-14T02:03:24.878Z,1628906604.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.160004 m,
      bearing: 195.139420 deg,
      approachRate: -0.445023 m/s,
      LOS rate: -1.605493 deg/s,
      cmd update: -4.816478 deg/s,
      cmd heading: 205.740014 deg,
      new cmd heading: 206.546679 deg.

2021-08-14T02:03:27.173Z,1628906607.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:27.545Z,1628906607.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:03:27.545Z,1628906607.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:03:27.545Z,1628906607.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:03:27.546Z,1628906607.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:03:27.949Z,1628906607.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D08,000,00B91,189,80,80,98,FF
2021-08-14T02:03:27.949Z,1628906607.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:03:27.949Z,1628906607.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:03:27.951Z,1628906607.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:03:28.002Z,1628906608.002 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-14T02:03:28.377Z,1628906608.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:03:28.802Z,1628906608.802 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T02:03:29.190Z,1628906609.190 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020329.04*50

2021-08-14T02:03:30.022Z,1628906610.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:31.581Z,1628906611.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,98,FF
2021-08-14T02:03:31.582Z,1628906611.582 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,98,FF
2021-08-14T02:03:31.582Z,1628906611.582 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:03:32.828Z,1628906612.828 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:03:32.843Z,1628906612.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:33.205Z,1628906613.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:03:33.205Z,1628906613.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:03:33.205Z,1628906613.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:03:33.206Z,1628906613.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:03:33.611Z,1628906613.611 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,98,FF
2021-08-14T02:03:33.611Z,1628906613.611 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:03:33.611Z,1628906613.611 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:03:33.613Z,1628906613.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:03:34.021Z,1628906614.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:03:34.850Z,1628906614.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020334.70*5F

2021-08-14T02:03:35.652Z,1628906615.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:37.241Z,1628906617.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,98,FF
2021-08-14T02:03:37.241Z,1628906617.241 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,98,FF
2021-08-14T02:03:37.241Z,1628906617.241 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:03:38.059Z,1628906618.059 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:03:38.471Z,1628906618.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:38.850Z,1628906618.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:03:38.850Z,1628906618.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:03:38.851Z,1628906618.851 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:03:38.852Z,1628906618.852 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:03:39.268Z,1628906619.268 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,98,FF
2021-08-14T02:03:39.268Z,1628906619.268 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:03:39.268Z,1628906619.268 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:03:39.270Z,1628906619.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:03:39.668Z,1628906619.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:03:40.077Z,1628906620.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8D,000,00B00,189,80,80,A3,FF
2021-08-14T02:03:40.077Z,1628906620.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:03:40.505Z,1628906620.505 [Micromodem](INFO): Nmea in: $SNTTA,0.090211,,,,020340.36*4B

2021-08-14T02:03:40.539Z,1628906620.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.460007 m, bearing: 199.980262 deg, deltaT: 15.774980 s, approachRate: -0.551506 m/s, LOS rate: 0.306868 deg/s, posRepo size: 4
2021-08-14T02:03:40.541Z,1628906620.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.460007 m,
      bearing: 199.980262 deg,
      approachRate: -0.551506 m/s,
      LOS rate: 0.306868 deg/s,
      cmd update: 0.920605 deg/s,
      cmd heading: 129.800827 deg,
      new cmd heading: 127.823663 deg.

2021-08-14T02:03:42.934Z,1628906622.934 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T02:03:42.974Z,1628906622.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:43.319Z,1628906623.319 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:03:43.319Z,1628906623.319 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:03:43.319Z,1628906623.319 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:03:43.320Z,1628906623.320 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:03:43.709Z,1628906623.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8D,000,00B00,189,80,80,A3,FF
2021-08-14T02:03:43.709Z,1628906623.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:03:43.710Z,1628906623.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:03:43.715Z,1628906623.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:03:44.125Z,1628906624.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:03:44.522Z,1628906624.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BC4,000,00ADF,189,80,80,8F,FF
2021-08-14T02:03:44.522Z,1628906624.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:03:44.957Z,1628906624.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020344.80*57

2021-08-14T02:03:45.027Z,1628906625.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.479996 m, bearing: 206.051385 deg, deltaT: 4.406273 s, approachRate: -0.449362 m/s, LOS rate: 1.377836 deg/s, posRepo size: 4
2021-08-14T02:03:45.029Z,1628906625.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.479996 m,
      bearing: 206.051385 deg,
      approachRate: -0.449362 m/s,
      LOS rate: 1.377836 deg/s,
      cmd update: 4.133509 deg/s,
      cmd heading: 133.865005 deg,
      new cmd heading: 134.310439 deg.

2021-08-14T02:03:47.388Z,1628906627.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:47.801Z,1628906627.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:03:47.801Z,1628906627.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:03:47.801Z,1628906627.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:03:47.802Z,1628906627.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:03:48.161Z,1628906628.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BC4,000,00ADF,189,80,80,8F,FF
2021-08-14T02:03:48.161Z,1628906628.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:03:48.162Z,1628906628.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:03:48.163Z,1628906628.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:03:48.565Z,1628906628.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:03:48.981Z,1628906628.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B53,000,00AC6,188,80,80,B5,FF
2021-08-14T02:03:48.981Z,1628906628.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:03:49.403Z,1628906629.403 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020349.25*55

2021-08-14T02:03:49.427Z,1628906629.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.980003 m, bearing: 199.481754 deg, deltaT: 4.513086 s, approachRate: -0.332365 m/s, LOS rate: -1.455685 deg/s, posRepo size: 4
2021-08-14T02:03:49.430Z,1628906629.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.980003 m,
      bearing: 199.481754 deg,
      approachRate: -0.332365 m/s,
      LOS rate: -1.455685 deg/s,
      cmd update: -4.367055 deg/s,
      cmd heading: 152.502478 deg,
      new cmd heading: 154.053622 deg.

2021-08-14T02:03:51.848Z,1628906631.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:52.190Z,1628906632.190 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:03:52.190Z,1628906632.190 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:03:52.191Z,1628906632.191 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:03:52.191Z,1628906632.191 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:03:52.593Z,1628906632.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B53,000,00AC6,188,80,80,B5,FF
2021-08-14T02:03:52.593Z,1628906632.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:03:52.593Z,1628906632.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:03:52.595Z,1628906632.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:03:53.019Z,1628906633.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:03:53.064Z,1628906633.064 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:03:53.409Z,1628906633.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BF0,000,00AB2,18A,80,80,81,FF
2021-08-14T02:03:53.410Z,1628906633.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:03:53.869Z,1628906633.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020353.68*57

2021-08-14T02:03:53.915Z,1628906633.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.780006 m, bearing: 200.277074 deg, deltaT: 4.429357 s, approachRate: -0.270919 m/s, LOS rate: 0.179557 deg/s, posRepo size: 4
2021-08-14T02:03:53.921Z,1628906633.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.780006 m,
      bearing: 200.277074 deg,
      approachRate: -0.270919 m/s,
      LOS rate: 0.179557 deg/s,
      cmd update: 0.538670 deg/s,
      cmd heading: 133.140708 deg,
      new cmd heading: 131.266460 deg.

2021-08-14T02:03:56.281Z,1628906636.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:03:56.648Z,1628906636.648 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:03:56.648Z,1628906636.648 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:03:56.649Z,1628906636.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:03:56.650Z,1628906636.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:03:57.051Z,1628906637.051 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BF0,000,00AB2,18A,80,80,81,FF
2021-08-14T02:03:57.051Z,1628906637.051 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:03:57.051Z,1628906637.051 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:03:57.053Z,1628906637.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:03:57.453Z,1628906637.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:03:57.866Z,1628906637.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B89,000,00A92,189,80,80,66,FF
2021-08-14T02:03:57.867Z,1628906637.867 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:03:57.913Z,1628906637.913 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T02:03:58.289Z,1628906638.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020358.14*57

2021-08-14T02:03:58.326Z,1628906638.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.860001 m, bearing: 204.313703 deg, deltaT: 4.459400 s, approachRate: -0.430552 m/s, LOS rate: 0.905195 deg/s, posRepo size: 4
2021-08-14T02:03:58.329Z,1628906638.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.860001 m,
      bearing: 204.313703 deg,
      approachRate: -0.430552 m/s,
      LOS rate: 0.905195 deg/s,
      cmd update: 2.715586 deg/s,
      cmd heading: 135.538407 deg,
      new cmd heading: 135.747391 deg.

2021-08-14T02:04:00.946Z,1628906640.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:04:01.083Z,1628906641.083 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:04:01.083Z,1628906641.083 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:04:01.083Z,1628906641.083 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:04:01.084Z,1628906641.084 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:04:01.481Z,1628906641.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B89,000,00A92,189,80,80,66,FF
2021-08-14T02:04:01.481Z,1628906641.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:04:01.482Z,1628906641.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:04:01.483Z,1628906641.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:04:01.897Z,1628906641.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:04:02.297Z,1628906642.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00A80,189,80,80,AC,FF
2021-08-14T02:04:02.298Z,1628906642.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:04:02.781Z,1628906642.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020402.57*58

2021-08-14T02:04:02.845Z,1628906642.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.779999 m, bearing: 204.932928 deg, deltaT: 4.376428 s, approachRate: -0.246777 m/s, LOS rate: 0.141491 deg/s, posRepo size: 4
2021-08-14T02:04:02.847Z,1628906642.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.779999 m,
      bearing: 204.932928 deg,
      approachRate: -0.246777 m/s,
      LOS rate: 0.141491 deg/s,
      cmd update: 0.424473 deg/s,
      cmd heading: 147.437527 deg,
      new cmd heading: 148.866306 deg.

2021-08-14T02:04:05.139Z,1628906645.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:04:05.529Z,1628906645.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:04:05.529Z,1628906645.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:04:05.529Z,1628906645.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:04:05.530Z,1628906645.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:04:05.937Z,1628906645.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00A80,189,80,80,AC,FF
2021-08-14T02:04:05.937Z,1628906645.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:04:05.937Z,1628906645.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:04:05.938Z,1628906645.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:04:06.335Z,1628906646.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:04:06.775Z,1628906646.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B1C,000,00A70,18A,80,80,B0,FF
2021-08-14T02:04:06.776Z,1628906646.776 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:04:07.174Z,1628906647.174 [Micromodem](INFO): Nmea in: $SNTTA,0.083968,,,,020407.03*4E

2021-08-14T02:04:07.207Z,1628906647.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.820007 m, bearing: 211.148728 deg, deltaT: 4.569668 s, approachRate: -0.210079 m/s, LOS rate: 1.360230 deg/s, posRepo size: 4
2021-08-14T02:04:07.210Z,1628906647.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.820007 m,
      bearing: 211.148728 deg,
      approachRate: -0.210079 m/s,
      LOS rate: 1.360230 deg/s,
      cmd update: 4.080691 deg/s,
      cmd heading: 149.376752 deg,
      new cmd heading: 149.512668 deg.

2021-08-14T02:04:09.587Z,1628906649.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:04:09.969Z,1628906649.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:04:09.969Z,1628906649.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:04:09.970Z,1628906649.970 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:04:09.971Z,1628906649.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:04:10.377Z,1628906650.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B1C,000,00A70,18A,80,80,B0,FF
2021-08-14T02:04:10.377Z,1628906650.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:04:10.377Z,1628906650.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:04:10.379Z,1628906650.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:04:10.789Z,1628906650.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:04:11.185Z,1628906651.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C11,000,00A5A,189,80,80,BE,FF
2021-08-14T02:04:11.186Z,1628906651.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:04:11.617Z,1628906651.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020411.47*5B

2021-08-14T02:04:11.639Z,1628906651.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.500000 m, bearing: 206.533337 deg, deltaT: 4.312446 s, approachRate: -0.306093 m/s, LOS rate: -1.070249 deg/s, posRepo size: 4
2021-08-14T02:04:11.644Z,1628906651.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.500000 m,
      bearing: 206.533337 deg,
      approachRate: -0.306093 m/s,
      LOS rate: -1.070249 deg/s,
      cmd update: -3.210747 deg/s,
      cmd heading: 166.989955 deg,
      new cmd heading: 168.768116 deg.

2021-08-14T02:04:14.033Z,1628906654.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:04:14.409Z,1628906654.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:04:14.409Z,1628906654.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:04:14.409Z,1628906654.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:04:14.410Z,1628906654.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:04:14.817Z,1628906654.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C11,000,00A5A,189,80,80,BE,FF
2021-08-14T02:04:14.817Z,1628906654.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:04:14.817Z,1628906654.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:04:14.819Z,1628906654.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:04:15.231Z,1628906655.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:04:15.629Z,1628906655.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4D,000,00A3D,189,80,80,AD,FF
2021-08-14T02:04:15.629Z,1628906655.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:04:16.062Z,1628906656.062 [Micromodem](INFO): Nmea in: $SNTTA,0.081977,,,,020415.91*4A

2021-08-14T02:04:16.089Z,1628906656.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.760010 m, bearing: 203.090607 deg, deltaT: 4.481777 s, approachRate: -0.388237 m/s, LOS rate: -0.768162 deg/s, posRepo size: 4
2021-08-14T02:04:16.090Z,1628906656.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.760010 m,
      bearing: 203.090607 deg,
      approachRate: -0.388237 m/s,
      LOS rate: -0.768162 deg/s,
      cmd update: -2.304485 deg/s,
      cmd heading: 152.636150 deg,
      new cmd heading: 151.306011 deg.

2021-08-14T02:04:18.074Z,1628906658.074 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:04:18.486Z,1628906658.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:04:18.853Z,1628906658.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:04:18.853Z,1628906658.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:04:18.853Z,1628906658.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:04:18.854Z,1628906658.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:04:19.257Z,1628906659.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4D,000,00A3D,189,80,80,AD,FF
2021-08-14T02:04:19.257Z,1628906659.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:04:19.257Z,1628906659.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:04:19.259Z,1628906659.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:04:19.661Z,1628906659.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:04:20.077Z,1628906660.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BEA,000,00A1B,189,80,80,B7,FF
2021-08-14T02:04:20.077Z,1628906660.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:04:20.505Z,1628906660.505 [Micromodem](INFO): Nmea in: $SNTTA,0.086498,,,,020420.35*49

2021-08-14T02:04:20.540Z,1628906660.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.719994 m, bearing: 211.934104 deg, deltaT: 4.451480 s, approachRate: -0.458278 m/s, LOS rate: 1.986642 deg/s, posRepo size: 4
2021-08-14T02:04:20.542Z,1628906660.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.719994 m,
      bearing: 211.934104 deg,
      approachRate: -0.458278 m/s,
      LOS rate: 1.986642 deg/s,
      cmd update: 5.959926 deg/s,
      cmd heading: 142.370404 deg,
      new cmd heading: 141.432262 deg.

2021-08-14T02:04:22.975Z,1628906662.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:04:23.305Z,1628906663.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:04:23.306Z,1628906663.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:04:23.306Z,1628906663.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:04:23.307Z,1628906663.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:04:23.701Z,1628906663.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BEA,000,00A1B,189,80,80,B7,FF
2021-08-14T02:04:23.702Z,1628906663.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:04:23.702Z,1628906663.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:04:23.707Z,1628906663.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:04:24.117Z,1628906664.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:04:24.517Z,1628906664.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00A02,189,80,80,C0,FF
2021-08-14T02:04:24.518Z,1628906664.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:04:24.957Z,1628906664.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020424.80*56

2021-08-14T02:04:25.021Z,1628906665.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.220001 m, bearing: 211.705210 deg, deltaT: 4.398228 s, approachRate: -0.341045 m/s, LOS rate: -0.052042 deg/s, posRepo size: 4
2021-08-14T02:04:25.023Z,1628906665.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.220001 m,
      bearing: 211.705210 deg,
      approachRate: -0.341045 m/s,
      LOS rate: -0.052042 deg/s,
      cmd update: -0.156126 deg/s,
      cmd heading: 168.632173 deg,
      new cmd heading: 171.525121 deg.

2021-08-14T02:04:27.358Z,1628906667.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:04:27.788Z,1628906667.788 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:04:27.788Z,1628906667.788 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:04:27.788Z,1628906667.788 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:04:27.789Z,1628906667.789 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:04:28.153Z,1628906668.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00A02,189,80,80,C0,FF
2021-08-14T02:04:28.153Z,1628906668.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:04:28.153Z,1628906668.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:04:28.155Z,1628906668.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:04:28.552Z,1628906668.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:04:28.957Z,1628906668.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C54,000,009EC,189,80,80,BE,FF
2021-08-14T02:04:28.957Z,1628906668.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:04:29.402Z,1628906669.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020429.25*54

2021-08-14T02:04:29.423Z,1628906669.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.900002 m, bearing: 206.955934 deg, deltaT: 4.520798 s, approachRate: -0.291984 m/s, LOS rate: -1.050539 deg/s, posRepo size: 4
2021-08-14T02:04:29.425Z,1628906669.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.900002 m,
      bearing: 206.955934 deg,
      approachRate: -0.291984 m/s,
      LOS rate: -1.050539 deg/s,
      cmd update: -3.151618 deg/s,
      cmd heading: 167.927002 deg,
      new cmd heading: 167.868998 deg.

2021-08-14T02:04:31.825Z,1628906671.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:04:32.178Z,1628906672.178 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:04:32.179Z,1628906672.179 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:04:32.179Z,1628906672.179 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:04:32.180Z,1628906672.180 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:04:32.593Z,1628906672.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C54,000,009EC,189,80,80,BE,FF
2021-08-14T02:04:32.593Z,1628906672.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:04:32.593Z,1628906672.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:04:32.595Z,1628906672.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:04:33.021Z,1628906673.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:04:33.405Z,1628906673.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4B,000,009D0,189,80,80,A3,FF
2021-08-14T02:04:33.406Z,1628906673.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:04:33.845Z,1628906673.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020433.69*57

2021-08-14T02:04:33.871Z,1628906673.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.220001 m, bearing: 207.913718 deg, deltaT: 4.429561 s, approachRate: -0.379270 m/s, LOS rate: 0.216225 deg/s, posRepo size: 4
2021-08-14T02:04:33.873Z,1628906673.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.220001 m,
      bearing: 207.913718 deg,
      approachRate: -0.379270 m/s,
      LOS rate: 0.216225 deg/s,
      cmd update: 0.648676 deg/s,
      cmd heading: 153.954752 deg,
      new cmd heading: 152.739082 deg.

2021-08-14T02:04:36.247Z,1628906676.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:04:36.648Z,1628906676.648 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:04:36.649Z,1628906676.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:04:36.649Z,1628906676.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:04:36.651Z,1628906676.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:04:37.037Z,1628906677.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4B,000,009D0,189,80,80,A3,FF
2021-08-14T02:04:37.037Z,1628906677.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:04:37.037Z,1628906677.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:04:37.039Z,1628906677.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:04:37.447Z,1628906677.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:04:37.857Z,1628906677.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BB5,000,009B0,189,80,80,8D,FF
2021-08-14T02:04:37.857Z,1628906677.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:04:38.289Z,1628906678.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020438.13*51

2021-08-14T02:04:38.341Z,1628906678.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.300003 m, bearing: 220.034285 deg, deltaT: 4.402309 s, approachRate: -0.436134 m/s, LOS rate: 2.753229 deg/s, posRepo size: 4
2021-08-14T02:04:38.343Z,1628906678.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.300003 m,
      bearing: 220.034285 deg,
      approachRate: -0.436134 m/s,
      LOS rate: 2.753229 deg/s,
      cmd update: 8.259688 deg/s,
      cmd heading: 156.810684 deg,
      new cmd heading: 157.088046 deg.

2021-08-14T02:04:40.789Z,1628906680.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:04:41.081Z,1628906681.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:04:41.081Z,1628906681.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:04:41.081Z,1628906681.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:04:41.082Z,1628906681.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:04:41.485Z,1628906681.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BB5,000,009B0,189,80,80,8D,FF
2021-08-14T02:04:41.486Z,1628906681.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:04:41.486Z,1628906681.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:04:41.488Z,1628906681.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:04:41.889Z,1628906681.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:04:42.293Z,1628906682.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B9A,000,00996,189,80,80,C5,FF
2021-08-14T02:04:42.294Z,1628906682.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:04:42.762Z,1628906682.762 [Micromodem](INFO): Nmea in: $SNTTA,0.079439,,,,020442.58*4D

2021-08-14T02:04:42.861Z,1628906682.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.739998 m, bearing: 219.152726 deg, deltaT: 4.454627 s, approachRate: -0.350199 m/s, LOS rate: -0.197897 deg/s, posRepo size: 4
2021-08-14T02:04:42.863Z,1628906682.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.739998 m,
      bearing: 219.152726 deg,
      approachRate: -0.350199 m/s,
      LOS rate: -0.197897 deg/s,
      cmd update: -0.593692 deg/s,
      cmd heading: 193.355575 deg,
      new cmd heading: 197.854883 deg.

2021-08-14T02:04:45.163Z,1628906685.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:04:45.529Z,1628906685.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:04:45.529Z,1628906685.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:04:45.529Z,1628906685.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:04:45.530Z,1628906685.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:04:45.931Z,1628906685.931 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B9A,000,00996,189,80,80,C5,FF
2021-08-14T02:04:45.931Z,1628906685.931 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:04:45.931Z,1628906685.931 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:04:45.933Z,1628906685.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:04:46.350Z,1628906686.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:04:46.769Z,1628906686.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5C,000,0097B,189,80,80,A5,FF
2021-08-14T02:04:46.770Z,1628906686.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:04:47.178Z,1628906687.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020447.02*59

2021-08-14T02:04:47.193Z,1628906687.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.120003 m, bearing: 212.337221 deg, deltaT: 4.510715 s, approachRate: -0.359144 m/s, LOS rate: -1.510959 deg/s, posRepo size: 4
2021-08-14T02:04:47.195Z,1628906687.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.120003 m,
      bearing: 212.337221 deg,
      approachRate: -0.359144 m/s,
      LOS rate: -1.510959 deg/s,
      cmd update: -4.532876 deg/s,
      cmd heading: 190.664758 deg,
      new cmd heading: 190.457879 deg.

2021-08-14T02:04:49.598Z,1628906689.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:04:49.969Z,1628906689.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:04:49.969Z,1628906689.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:04:49.969Z,1628906689.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:04:49.970Z,1628906689.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:04:50.381Z,1628906690.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5C,000,0097B,189,80,80,A5,FF
2021-08-14T02:04:50.381Z,1628906690.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:04:50.381Z,1628906690.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:04:50.383Z,1628906690.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:04:50.794Z,1628906690.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:04:51.185Z,1628906691.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,239,000,00956,189,80,80,95,FF
2021-08-14T02:04:51.185Z,1628906691.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:04:51.626Z,1628906691.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020451.47*5F

2021-08-14T02:04:51.647Z,1628906691.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.900002 m, bearing: 163.578127 deg, deltaT: 4.373654 s, approachRate: -0.507585 m/s, LOS rate: -11.148366 deg/s, posRepo size: 4
2021-08-14T02:04:51.650Z,1628906691.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.900002 m,
      bearing: 163.578127 deg,
      approachRate: -0.507585 m/s,
      LOS rate: -11.148366 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 170.819199 deg,
      new cmd heading: 168.894459 deg.

2021-08-14T02:04:54.056Z,1628906694.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:04:54.417Z,1628906694.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:04:54.417Z,1628906694.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:04:54.417Z,1628906694.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:04:54.418Z,1628906694.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:04:54.821Z,1628906694.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
239,000,00956,189,80,80,95,FF
2021-08-14T02:04:54.821Z,1628906694.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:04:54.821Z,1628906694.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:04:54.823Z,1628906694.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:04:55.319Z,1628906695.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:04:55.725Z,1628906695.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,168,000,0092E,186,80,80,77,FF
2021-08-14T02:04:55.726Z,1628906695.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:04:56.137Z,1628906696.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020455.92*53

2021-08-14T02:04:56.159Z,1628906696.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.500000 m, bearing: 164.663662 deg, deltaT: 4.566300 s, approachRate: -0.525590 m/s, LOS rate: 0.237728 deg/s, posRepo size: 4
2021-08-14T02:04:56.162Z,1628906696.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.500000 m,
      bearing: 164.663662 deg,
      approachRate: -0.525590 m/s,
      LOS rate: 0.237728 deg/s,
      cmd update: 0.713183 deg/s,
      cmd heading: 116.074034 deg,
      new cmd heading: 111.579362 deg.

2021-08-14T02:04:58.568Z,1628906698.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:04:58.945Z,1628906698.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:04:58.945Z,1628906698.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:04:58.945Z,1628906698.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:04:58.946Z,1628906698.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:04:59.361Z,1628906699.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
168,000,0092E,186,80,80,77,FF
2021-08-14T02:04:59.361Z,1628906699.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:04:59.361Z,1628906699.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:04:59.363Z,1628906699.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:04:59.792Z,1628906699.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:05:00.169Z,1628906700.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B01,000,00910,18A,80,80,A9,FF
2021-08-14T02:05:00.169Z,1628906700.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:05:00.709Z,1628906700.709 [Micromodem](INFO): Nmea in: $SNTTA,0.067479,,,,020500.45*4D

2021-08-14T02:05:00.787Z,1628906700.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.699997 m, bearing: 227.178034 deg, deltaT: 4.425259 s, approachRate: -0.406757 m/s, LOS rate: 14.126715 deg/s, posRepo size: 4
2021-08-14T02:05:00.787Z,1628906700.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.126715 deg/s. Setting heading cmd to target bearing of 227.178034deg and heading rate command to 0 deg/s.
2021-08-14T02:05:03.089Z,1628906703.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:05:03.397Z,1628906703.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:05:03.397Z,1628906703.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:05:03.397Z,1628906703.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:05:03.398Z,1628906703.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:05:03.805Z,1628906703.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B01,000,00910,18A,80,80,A9,FF
2021-08-14T02:05:03.805Z,1628906703.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:05:03.805Z,1628906703.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:05:03.807Z,1628906703.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:05:04.223Z,1628906704.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:05:04.612Z,1628906704.612 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,008FE,189,80,80,A7,FF
2021-08-14T02:05:04.613Z,1628906704.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:05:05.057Z,1628906705.057 [Micromodem](INFO): Nmea in: $SNTTA,0.100736,,,,020504.90*49

2021-08-14T02:05:05.146Z,1628906705.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.619995 m, bearing: 211.454802 deg, deltaT: 4.496874 s, approachRate: -0.240167 m/s, LOS rate: -3.496481 deg/s, posRepo size: 4
2021-08-14T02:05:05.153Z,1628906705.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.619995 m,
      bearing: 211.454802 deg,
      approachRate: -0.240167 m/s,
      LOS rate: -3.496481 deg/s,
      cmd update: -10.489442 deg/s,
      cmd heading: 227.178034 deg,
      new cmd heading: 227.178034 deg.

2021-08-14T02:05:07.481Z,1628906707.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:05:07.857Z,1628906707.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:05:07.857Z,1628906707.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:05:07.857Z,1628906707.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:05:07.858Z,1628906707.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:05:08.245Z,1628906708.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,008FE,189,80,80,A7,FF
2021-08-14T02:05:08.245Z,1628906708.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:05:08.245Z,1628906708.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:05:08.247Z,1628906708.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:05:08.697Z,1628906708.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:05:09.053Z,1628906709.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,008F8,189,80,80,8F,FF
2021-08-14T02:05:09.054Z,1628906709.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:05:09.493Z,1628906709.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020509.34*57

2021-08-14T02:05:09.528Z,1628906709.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.260002 m, bearing: 213.446635 deg, deltaT: 4.355409 s, approachRate: -0.082654 m/s, LOS rate: 0.457324 deg/s, posRepo size: 4
2021-08-14T02:05:09.530Z,1628906709.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.260002 m,
      bearing: 213.446635 deg,
      approachRate: -0.082654 m/s,
      LOS rate: 0.457324 deg/s,
      cmd update: 1.371972 deg/s,
      cmd heading: 181.023054 deg,
      new cmd heading: 176.228739 deg.

2021-08-14T02:05:11.663Z,1628906711.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:05:12.029Z,1628906712.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:05:12.029Z,1628906712.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:05:12.029Z,1628906712.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:05:12.030Z,1628906712.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:05:12.439Z,1628906712.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,008F8,189,80,80,8F,FF
2021-08-14T02:05:12.439Z,1628906712.439 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:05:12.439Z,1628906712.439 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:05:12.441Z,1628906712.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:05:12.868Z,1628906712.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:05:13.237Z,1628906713.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,008ED,189,80,80,CE,FF
2021-08-14T02:05:13.238Z,1628906713.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:05:13.698Z,1628906713.698 [Micromodem](INFO): Nmea in: $SNTTA,,0.065919,,,020513.53*41

2021-08-14T02:05:13.766Z,1628906713.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.599998 m, bearing: 230.136886 deg, deltaT: 4.183698 s, approachRate: -0.157756 m/s, LOS rate: 3.989353 deg/s, posRepo size: 4
2021-08-14T02:05:13.773Z,1628906713.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.599998 m,
      bearing: 230.136886 deg,
      approachRate: -0.157756 m/s,
      LOS rate: 3.989353 deg/s,
      cmd update: 11.968061 deg/s,
      cmd heading: 186.762954 deg,
      new cmd heading: 187.464604 deg.

2021-08-14T02:05:16.112Z,1628906716.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:05:16.461Z,1628906716.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:05:16.462Z,1628906716.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:05:16.462Z,1628906716.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:05:16.463Z,1628906716.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:05:16.877Z,1628906716.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,008ED,189,80,80,CE,FF
2021-08-14T02:05:16.877Z,1628906716.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:05:16.877Z,1628906716.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:05:16.879Z,1628906716.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:05:17.281Z,1628906717.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:05:17.688Z,1628906717.688 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7B,000,008D1,189,80,80,85,FF
2021-08-14T02:05:17.689Z,1628906717.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:05:18.125Z,1628906718.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020517.97*51

2021-08-14T02:05:18.155Z,1628906718.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.919998 m, bearing: 217.974955 deg, deltaT: 4.504649 s, approachRate: -0.372948 m/s, LOS rate: -2.699862 deg/s, posRepo size: 4
2021-08-14T02:05:18.186Z,1628906718.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.919998 m,
      bearing: 217.974955 deg,
      approachRate: -0.372948 m/s,
      LOS rate: -2.699862 deg/s,
      cmd update: -8.099586 deg/s,
      cmd heading: 240.626467 deg,
      new cmd heading: 245.419675 deg.

2021-08-14T02:05:20.535Z,1628906720.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:05:20.921Z,1628906720.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:05:20.921Z,1628906720.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:05:20.921Z,1628906720.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:05:20.922Z,1628906720.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:05:21.322Z,1628906721.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7B,000,008D1,189,80,80,85,FF
2021-08-14T02:05:21.322Z,1628906721.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:05:21.322Z,1628906721.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:05:21.325Z,1628906721.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:05:21.746Z,1628906721.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:05:21.765Z,1628906721.765 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:05:22.133Z,1628906722.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAA,000,008B0,189,80,80,9F,FF
2021-08-14T02:05:22.133Z,1628906722.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:05:22.573Z,1628906722.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020522.42*5F

2021-08-14T02:05:22.595Z,1628906722.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.940002 m, bearing: 232.598759 deg, deltaT: 4.410769 s, approachRate: -0.448900 m/s, LOS rate: 3.315477 deg/s, posRepo size: 4
2021-08-14T02:05:22.597Z,1628906722.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.940002 m,
      bearing: 232.598759 deg,
      approachRate: -0.448900 m/s,
      LOS rate: 3.315477 deg/s,
      cmd update: 9.946431 deg/s,
      cmd heading: 204.868423 deg,
      new cmd heading: 201.422220 deg.

2021-08-14T02:05:25.024Z,1628906725.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:05:25.361Z,1628906725.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:05:25.361Z,1628906725.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:05:25.361Z,1628906725.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:05:25.362Z,1628906725.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:05:25.793Z,1628906725.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAA,000,008B0,189,80,80,9F,FF
2021-08-14T02:05:25.793Z,1628906725.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:05:25.793Z,1628906725.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:05:25.795Z,1628906725.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:05:26.168Z,1628906726.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:05:26.581Z,1628906726.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,0088C,187,80,80,CA,FF
2021-08-14T02:05:26.581Z,1628906726.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:05:27.005Z,1628906727.005 [Micromodem](INFO): Nmea in: $SNTTA,0.068283,,,,020526.89*45

2021-08-14T02:05:27.060Z,1628906727.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.780006 m, bearing: 226.808903 deg, deltaT: 4.428570 s, approachRate: -0.487741 m/s, LOS rate: -1.307387 deg/s, posRepo size: 4
2021-08-14T02:05:27.062Z,1628906727.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.780006 m,
      bearing: 226.808903 deg,
      approachRate: -0.487741 m/s,
      LOS rate: -1.307387 deg/s,
      cmd update: -3.922162 deg/s,
      cmd heading: 248.916672 deg,
      new cmd heading: 253.505866 deg.

2021-08-14T02:05:29.438Z,1628906729.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:05:29.805Z,1628906729.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:05:29.805Z,1628906729.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:05:29.805Z,1628906729.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:05:29.806Z,1628906729.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:05:30.205Z,1628906730.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,0088C,187,80,80,CA,FF
2021-08-14T02:05:30.205Z,1628906730.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:05:30.205Z,1628906730.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:05:30.207Z,1628906730.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:05:30.652Z,1628906730.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:05:31.013Z,1628906731.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,00863,186,80,80,89,FF
2021-08-14T02:05:31.013Z,1628906731.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:05:31.470Z,1628906731.470 [Micromodem](INFO): Nmea in: $SNTTA,0.074236,,,,020531.30*42

2021-08-14T02:05:31.491Z,1628906731.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.320000 m, bearing: 225.623278 deg, deltaT: 4.494873 s, approachRate: -0.547292 m/s, LOS rate: -0.263773 deg/s, posRepo size: 4
2021-08-14T02:05:31.493Z,1628906731.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.320000 m,
      bearing: 225.623278 deg,
      approachRate: -0.547292 m/s,
      LOS rate: -0.263773 deg/s,
      cmd update: -0.791318 deg/s,
      cmd heading: 231.289512 deg,
      new cmd heading: 229.726157 deg.

2021-08-14T02:05:33.872Z,1628906733.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:05:34.260Z,1628906734.260 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:05:34.260Z,1628906734.260 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:05:34.261Z,1628906734.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:05:34.261Z,1628906734.261 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:05:34.678Z,1628906734.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,00863,186,80,80,89,FF
2021-08-14T02:05:34.678Z,1628906734.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:05:34.679Z,1628906734.679 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:05:34.686Z,1628906734.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:05:35.176Z,1628906735.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:05:35.583Z,1628906735.583 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,00838,186,80,80,A7,FF
2021-08-14T02:05:35.584Z,1628906735.584 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:05:36.005Z,1628906736.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020535.78*50

2021-08-14T02:05:36.035Z,1628906736.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.740005 m, bearing: 219.015029 deg, deltaT: 4.507048 s, approachRate: -0.572435 m/s, LOS rate: -1.466203 deg/s, posRepo size: 4
2021-08-14T02:05:36.037Z,1628906736.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.740005 m,
      bearing: 219.015029 deg,
      approachRate: -0.572435 m/s,
      LOS rate: -1.466203 deg/s,
      cmd update: -4.398610 deg/s,
      cmd heading: 227.722676 deg,
      new cmd heading: 227.378340 deg.

2021-08-14T02:05:38.434Z,1628906738.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:05:38.802Z,1628906738.802 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:05:38.802Z,1628906738.802 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:05:38.803Z,1628906738.803 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:05:38.803Z,1628906738.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:05:39.213Z,1628906739.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,00838,186,80,80,A7,FF
2021-08-14T02:05:39.213Z,1628906739.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:05:39.213Z,1628906739.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:05:39.215Z,1628906739.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:05:39.625Z,1628906739.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:05:40.021Z,1628906740.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DD,000,00810,186,80,80,95,FF
2021-08-14T02:05:40.021Z,1628906740.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:05:40.465Z,1628906740.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020540.30*5E

2021-08-14T02:05:40.489Z,1628906740.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.340004 m, bearing: 223.901060 deg, deltaT: 4.490010 s, approachRate: -0.534520 m/s, LOS rate: 1.088200 deg/s, posRepo size: 4
2021-08-14T02:05:40.491Z,1628906740.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.340004 m,
      bearing: 223.901060 deg,
      approachRate: -0.534520 m/s,
      LOS rate: 1.088200 deg/s,
      cmd update: 3.264601 deg/s,
      cmd heading: 207.971826 deg,
      new cmd heading: 206.219327 deg.

2021-08-14T02:05:42.935Z,1628906742.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:05:43.253Z,1628906743.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:05:43.253Z,1628906743.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:05:43.253Z,1628906743.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:05:43.254Z,1628906743.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:05:43.665Z,1628906743.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DD,000,00810,186,80,80,95,FF
2021-08-14T02:05:43.665Z,1628906743.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:05:43.665Z,1628906743.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:05:43.667Z,1628906743.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:05:44.065Z,1628906744.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:05:44.473Z,1628906744.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,007E4,187,80,80,B7,FF
2021-08-14T02:05:44.473Z,1628906744.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:05:44.905Z,1628906744.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020544.76*58

2021-08-14T02:05:44.963Z,1628906744.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.699997 m, bearing: 225.772299 deg, deltaT: 4.400036 s, approachRate: -0.599997 m/s, LOS rate: 0.425278 deg/s, posRepo size: 4
2021-08-14T02:05:44.981Z,1628906744.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.699997 m,
      bearing: 225.772299 deg,
      approachRate: -0.599997 m/s,
      LOS rate: 0.425278 deg/s,
      cmd update: 1.275835 deg/s,
      cmd heading: 222.336058 deg,
      new cmd heading: 223.880116 deg.

2021-08-14T02:05:47.316Z,1628906747.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:05:47.708Z,1628906747.708 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:05:47.708Z,1628906747.708 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:05:47.709Z,1628906747.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:05:47.710Z,1628906747.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:05:48.110Z,1628906748.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,007E4,187,80,80,B7,FF
2021-08-14T02:05:48.110Z,1628906748.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:05:48.110Z,1628906748.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:05:48.112Z,1628906748.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:05:48.513Z,1628906748.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:05:48.909Z,1628906748.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,007BB,183,80,80,B0,FF
2021-08-14T02:05:48.910Z,1628906748.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:05:49.361Z,1628906749.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020549.20*56

2021-08-14T02:05:49.395Z,1628906749.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.239998 m, bearing: 226.607932 deg, deltaT: 4.498829 s, approachRate: -0.546809 m/s, LOS rate: 0.185744 deg/s, posRepo size: 4
2021-08-14T02:05:49.406Z,1628906749.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.239998 m,
      bearing: 226.607932 deg,
      approachRate: -0.546809 m/s,
      LOS rate: 0.185744 deg/s,
      cmd update: 0.557233 deg/s,
      cmd heading: 228.065419 deg,
      new cmd heading: 228.594207 deg.

2021-08-14T02:05:51.793Z,1628906751.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:05:52.142Z,1628906752.142 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:05:52.143Z,1628906752.143 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:05:52.143Z,1628906752.143 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:05:52.144Z,1628906752.144 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:05:52.545Z,1628906752.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,007BB,183,80,80,B0,FF
2021-08-14T02:05:52.545Z,1628906752.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:05:52.545Z,1628906752.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:05:52.547Z,1628906752.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:05:52.963Z,1628906752.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:05:53.369Z,1628906753.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,0078C,186,80,80,8E,FF
2021-08-14T02:05:53.369Z,1628906753.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:05:53.809Z,1628906753.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020553.64*5D

2021-08-14T02:05:53.835Z,1628906753.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.420006 m, bearing: 223.234296 deg, deltaT: 4.416777 s, approachRate: -0.638473 m/s, LOS rate: -0.763823 deg/s, posRepo size: 4
2021-08-14T02:05:53.837Z,1628906753.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.420006 m,
      bearing: 223.234296 deg,
      approachRate: -0.638473 m/s,
      LOS rate: -0.763823 deg/s,
      cmd update: -2.291469 deg/s,
      cmd heading: 230.531172 deg,
      new cmd heading: 230.770327 deg.

2021-08-14T02:05:56.210Z,1628906756.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:05:56.585Z,1628906756.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:05:56.585Z,1628906756.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:05:56.585Z,1628906756.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:05:56.586Z,1628906756.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:05:56.993Z,1628906756.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,0078C,186,80,80,8E,FF
2021-08-14T02:05:56.993Z,1628906756.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:05:56.993Z,1628906756.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:05:56.995Z,1628906756.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:05:57.415Z,1628906757.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:05:57.797Z,1628906757.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,0075E,185,80,80,9E,FF
2021-08-14T02:05:57.797Z,1628906757.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:05:58.241Z,1628906758.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020558.09*5D

2021-08-14T02:05:58.257Z,1628906758.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.659996 m, bearing: 221.421947 deg, deltaT: 4.471933 s, approachRate: -0.617185 m/s, LOS rate: -0.405272 deg/s, posRepo size: 4
2021-08-14T02:05:58.259Z,1628906758.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.659996 m,
      bearing: 221.421947 deg,
      approachRate: -0.617185 m/s,
      LOS rate: -0.405272 deg/s,
      cmd update: -1.215816 deg/s,
      cmd heading: 220.293076 deg,
      new cmd heading: 219.415443 deg.

2021-08-14T02:06:00.698Z,1628906760.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:06:01.029Z,1628906761.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:06:01.029Z,1628906761.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:06:01.029Z,1628906761.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:06:01.030Z,1628906761.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:06:01.433Z,1628906761.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,0075E,185,80,80,9E,FF
2021-08-14T02:06:01.433Z,1628906761.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:06:01.433Z,1628906761.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:06:01.435Z,1628906761.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:06:01.849Z,1628906761.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:06:02.241Z,1628906762.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,00732,187,80,80,9A,FF
2021-08-14T02:06:02.242Z,1628906762.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:06:02.713Z,1628906762.713 [Micromodem](INFO): Nmea in: $SNTTA,0.061168,,,,020602.53*48

2021-08-14T02:06:02.787Z,1628906762.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.019997 m, bearing: 222.094283 deg, deltaT: 4.412550 s, approachRate: -0.598293 m/s, LOS rate: 0.152369 deg/s, posRepo size: 4
2021-08-14T02:06:02.789Z,1628906762.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.019997 m,
      bearing: 222.094283 deg,
      approachRate: -0.598293 m/s,
      LOS rate: 0.152369 deg/s,
      cmd update: 0.457107 deg/s,
      cmd heading: 214.928251 deg,
      new cmd heading: 214.320024 deg.

2021-08-14T02:06:04.809Z,1628906764.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:06:05.069Z,1628906765.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:06:05.069Z,1628906765.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:06:05.069Z,1628906765.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:06:05.070Z,1628906765.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:06:05.485Z,1628906765.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,00732,187,80,80,9A,FF
2021-08-14T02:06:05.485Z,1628906765.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:06:05.485Z,1628906765.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:06:05.487Z,1628906765.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:06:05.890Z,1628906765.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:06:06.281Z,1628906766.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00708,183,80,80,A8,FF
2021-08-14T02:06:06.281Z,1628906766.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:06:06.753Z,1628906766.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020606.58*51

2021-08-14T02:06:06.808Z,1628906766.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.500000 m, bearing: 223.370231 deg, deltaT: 4.050915 s, approachRate: -0.622081 m/s, LOS rate: 0.314978 deg/s, posRepo size: 4
2021-08-14T02:06:06.810Z,1628906766.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.500000 m,
      bearing: 223.370231 deg,
      approachRate: -0.622081 m/s,
      LOS rate: 0.314978 deg/s,
      cmd update: 0.944933 deg/s,
      cmd heading: 216.773680 deg,
      new cmd heading: 216.994920 deg.

2021-08-14T02:06:09.142Z,1628906769.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:06:09.517Z,1628906769.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:06:09.517Z,1628906769.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:06:09.517Z,1628906769.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:06:09.518Z,1628906769.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:06:09.917Z,1628906769.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,00708,183,80,80,A8,FF
2021-08-14T02:06:09.917Z,1628906769.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:06:09.917Z,1628906769.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:06:09.919Z,1628906769.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:06:10.341Z,1628906770.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:06:10.765Z,1628906770.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,006D8,182,80,80,B7,FF
2021-08-14T02:06:10.765Z,1628906770.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:06:11.166Z,1628906771.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020611.01*5B

2021-08-14T02:06:11.182Z,1628906771.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.619995 m, bearing: 224.410141 deg, deltaT: 4.513164 s, approachRate: -0.638134 m/s, LOS rate: 0.230417 deg/s, posRepo size: 4
2021-08-14T02:06:11.185Z,1628906771.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.619995 m,
      bearing: 224.410141 deg,
      approachRate: -0.638134 m/s,
      LOS rate: 0.230417 deg/s,
      cmd update: 0.691251 deg/s,
      cmd heading: 221.051119 deg,
      new cmd heading: 221.365050 deg.

2021-08-14T02:06:13.575Z,1628906773.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:06:13.969Z,1628906773.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:06:13.969Z,1628906773.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:06:13.969Z,1628906773.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:06:13.970Z,1628906773.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:06:14.373Z,1628906774.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,006D8,182,80,80,B7,FF
2021-08-14T02:06:14.374Z,1628906774.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:06:14.374Z,1628906774.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:06:14.375Z,1628906774.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:06:14.784Z,1628906774.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:06:15.169Z,1628906775.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,006AE,185,80,80,AE,FF
2021-08-14T02:06:15.169Z,1628906775.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:06:15.597Z,1628906775.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020615.47*5D

2021-08-14T02:06:15.619Z,1628906775.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.100006 m, bearing: 224.158093 deg, deltaT: 4.331856 s, approachRate: -0.581734 m/s, LOS rate: -0.058185 deg/s, posRepo size: 4
2021-08-14T02:06:15.637Z,1628906775.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.100006 m,
      bearing: 224.158093 deg,
      approachRate: -0.581734 m/s,
      LOS rate: -0.058185 deg/s,
      cmd update: -0.174554 deg/s,
      cmd heading: 224.048441 deg,
      new cmd heading: 224.347623 deg.

2021-08-14T02:06:18.038Z,1628906778.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:06:18.409Z,1628906778.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:06:18.409Z,1628906778.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:06:18.409Z,1628906778.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:06:18.410Z,1628906778.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:06:18.805Z,1628906778.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,006AE,185,80,80,AE,FF
2021-08-14T02:06:18.805Z,1628906778.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:06:18.805Z,1628906778.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:06:18.807Z,1628906778.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:06:19.221Z,1628906779.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:06:19.613Z,1628906779.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,00682,186,80,80,A0,FF
2021-08-14T02:06:19.613Z,1628906779.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:06:20.054Z,1628906780.054 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020619.90*5B

2021-08-14T02:06:20.080Z,1628906780.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.459999 m, bearing: 224.046898 deg, deltaT: 4.476884 s, approachRate: -0.589697 m/s, LOS rate: -0.024838 deg/s, posRepo size: 4
2021-08-14T02:06:20.082Z,1628906780.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.459999 m,
      bearing: 224.046898 deg,
      approachRate: -0.589697 m/s,
      LOS rate: -0.024838 deg/s,
      cmd update: -0.074513 deg/s,
      cmd heading: 223.267688 deg,
      new cmd heading: 223.194307 deg.

2021-08-14T02:06:22.483Z,1628906782.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:06:22.869Z,1628906782.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:06:22.869Z,1628906782.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:06:22.869Z,1628906782.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:06:22.870Z,1628906782.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:06:23.261Z,1628906783.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,00682,186,80,80,A0,FF
2021-08-14T02:06:23.261Z,1628906783.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:06:23.261Z,1628906783.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:06:23.263Z,1628906783.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:06:23.657Z,1628906783.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:06:24.069Z,1628906784.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,00658,186,80,80,AC,FF
2021-08-14T02:06:24.069Z,1628906784.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:06:24.517Z,1628906784.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020624.35*5A

2021-08-14T02:06:24.533Z,1628906784.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.940006 m, bearing: 224.465479 deg, deltaT: 4.461903 s, approachRate: -0.564780 m/s, LOS rate: 0.093812 deg/s, posRepo size: 4
2021-08-14T02:06:24.535Z,1628906784.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.940006 m,
      bearing: 224.465479 deg,
      approachRate: -0.564780 m/s,
      LOS rate: 0.093812 deg/s,
      cmd update: 0.281437 deg/s,
      cmd heading: 222.935241 deg,
      new cmd heading: 222.904516 deg.

2021-08-14T02:06:26.948Z,1628906786.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:06:27.297Z,1628906787.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:06:27.297Z,1628906787.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:06:27.297Z,1628906787.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:06:27.298Z,1628906787.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:06:27.703Z,1628906787.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,00658,186,80,80,AC,FF
2021-08-14T02:06:27.703Z,1628906787.703 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:06:27.704Z,1628906787.704 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:06:27.709Z,1628906787.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:06:28.111Z,1628906788.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:06:28.515Z,1628906788.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,0062E,186,80,80,9D,FF
2021-08-14T02:06:28.515Z,1628906788.515 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:06:28.945Z,1628906788.945 [Micromodem](INFO): Nmea in: $SNTTA,0.059732,,,,020628.80*4C

2021-08-14T02:06:29.010Z,1628906789.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.420006 m, bearing: 224.424211 deg, deltaT: 4.406477 s, approachRate: -0.571886 m/s, LOS rate: -0.009365 deg/s, posRepo size: 4
2021-08-14T02:06:29.013Z,1628906789.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.420006 m,
      bearing: 224.424211 deg,
      approachRate: -0.571886 m/s,
      LOS rate: -0.009365 deg/s,
      cmd update: -0.028096 deg/s,
      cmd heading: 224.176598 deg,
      new cmd heading: 224.311331 deg.

2021-08-14T02:06:31.369Z,1628906791.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:06:31.765Z,1628906791.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:06:31.765Z,1628906791.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:06:31.765Z,1628906791.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:06:31.766Z,1628906791.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:06:32.150Z,1628906792.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,0062E,186,80,80,9D,FF
2021-08-14T02:06:32.150Z,1628906792.150 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:06:32.150Z,1628906792.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:06:32.153Z,1628906792.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:06:32.545Z,1628906792.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:06:32.954Z,1628906792.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00600,186,80,80,78,FF
2021-08-14T02:06:32.955Z,1628906792.955 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:06:33.389Z,1628906793.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020633.25*5D

2021-08-14T02:06:33.424Z,1628906793.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.660000 m, bearing: 223.250703 deg, deltaT: 4.518641 s, approachRate: -0.610804 m/s, LOS rate: -0.259704 deg/s, posRepo size: 4
2021-08-14T02:06:33.426Z,1628906793.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.660000 m,
      bearing: 223.250703 deg,
      approachRate: -0.610804 m/s,
      LOS rate: -0.259704 deg/s,
      cmd update: -0.779112 deg/s,
      cmd heading: 224.049758 deg,
      new cmd heading: 224.039149 deg.

2021-08-14T02:06:35.821Z,1628906795.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:06:36.178Z,1628906796.178 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:06:36.178Z,1628906796.178 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:06:36.178Z,1628906796.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:06:36.179Z,1628906796.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:06:36.581Z,1628906796.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00600,186,80,80,78,FF
2021-08-14T02:06:36.581Z,1628906796.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:06:36.581Z,1628906796.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:06:36.583Z,1628906796.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:06:37.012Z,1628906797.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:06:37.393Z,1628906797.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,005D4,186,80,80,A1,FF
2021-08-14T02:06:37.393Z,1628906797.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:06:37.826Z,1628906797.826 [Micromodem](INFO): Nmea in: $SNTTA,0.043373,,,,020637.67*41

2021-08-14T02:06:37.901Z,1628906797.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.020000 m, bearing: 223.910786 deg, deltaT: 4.359656 s, approachRate: -0.605552 m/s, LOS rate: 0.151407 deg/s, posRepo size: 4
2021-08-14T02:06:37.903Z,1628906797.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.020000 m,
      bearing: 223.910786 deg,
      approachRate: -0.605552 m/s,
      LOS rate: 0.151407 deg/s,
      cmd update: 0.454222 deg/s,
      cmd heading: 220.649983 deg,
      new cmd heading: 220.267490 deg.

2021-08-14T02:06:40.270Z,1628906800.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:06:40.621Z,1628906800.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:06:40.621Z,1628906800.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:06:40.621Z,1628906800.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:06:40.622Z,1628906800.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:06:41.031Z,1628906801.031 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,005D4,186,80,80,A1,FF
2021-08-14T02:06:41.031Z,1628906801.031 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:06:41.031Z,1628906801.031 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:06:41.035Z,1628906801.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:06:41.442Z,1628906801.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:06:41.833Z,1628906801.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,005AB,184,80,80,8B,FF
2021-08-14T02:06:41.834Z,1628906801.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:06:42.277Z,1628906802.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020642.13*5E

2021-08-14T02:06:42.299Z,1628906802.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.560001 m, bearing: 224.489972 deg, deltaT: 4.507270 s, approachRate: -0.545785 m/s, LOS rate: 0.128500 deg/s, posRepo size: 4
2021-08-14T02:06:42.302Z,1628906802.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.560001 m,
      bearing: 224.489972 deg,
      approachRate: -0.545785 m/s,
      LOS rate: 0.128500 deg/s,
      cmd update: 0.385501 deg/s,
      cmd heading: 222.693590 deg,
      new cmd heading: 222.870953 deg.

2021-08-14T02:06:44.784Z,1628906804.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:06:45.073Z,1628906805.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:06:45.073Z,1628906805.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:06:45.073Z,1628906805.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:06:45.074Z,1628906805.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:06:45.469Z,1628906805.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,005AB,184,80,80,8B,FF
2021-08-14T02:06:45.469Z,1628906805.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:06:45.469Z,1628906805.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:06:45.471Z,1628906805.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:06:45.881Z,1628906805.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:06:46.277Z,1628906806.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,0057E,186,80,80,A6,FF
2021-08-14T02:06:46.277Z,1628906806.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:06:46.760Z,1628906806.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020646.56*5B

2021-08-14T02:06:46.844Z,1628906806.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.860001 m, bearing: 224.112631 deg, deltaT: 4.421966 s, approachRate: -0.610588 m/s, LOS rate: -0.085333 deg/s, posRepo size: 4
2021-08-14T02:06:46.846Z,1628906806.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.860001 m,
      bearing: 224.112631 deg,
      approachRate: -0.610588 m/s,
      LOS rate: -0.085333 deg/s,
      cmd update: -0.256000 deg/s,
      cmd heading: 224.399113 deg,
      new cmd heading: 224.594384 deg.

2021-08-14T02:06:49.127Z,1628906809.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:06:49.509Z,1628906809.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:06:49.509Z,1628906809.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:06:49.509Z,1628906809.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:06:49.510Z,1628906809.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:06:49.913Z,1628906809.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,0057E,186,80,80,A6,FF
2021-08-14T02:06:49.913Z,1628906809.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:06:49.913Z,1628906809.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:06:49.915Z,1628906809.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:06:50.335Z,1628906810.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:06:50.745Z,1628906810.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,00553,187,80,80,AD,FF
2021-08-14T02:06:50.746Z,1628906810.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:06:51.165Z,1628906811.165 [Micromodem](INFO): Nmea in: $SNTTA,0.061129,,,,020651.01*4C

2021-08-14T02:06:51.192Z,1628906811.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.279999 m, bearing: 223.245416 deg, deltaT: 4.527831 s, approachRate: -0.569810 m/s, LOS rate: -0.191530 deg/s, posRepo size: 4
2021-08-14T02:06:51.194Z,1628906811.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.279999 m,
      bearing: 223.245416 deg,
      approachRate: -0.569810 m/s,
      LOS rate: -0.191530 deg/s,
      cmd update: -0.574590 deg/s,
      cmd heading: 223.239513 deg,
      new cmd heading: 223.156072 deg.

2021-08-14T02:06:53.581Z,1628906813.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:06:53.953Z,1628906813.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:06:53.953Z,1628906813.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:06:53.953Z,1628906813.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:06:53.954Z,1628906813.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:06:54.373Z,1628906814.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,00553,187,80,80,AD,FF
2021-08-14T02:06:54.373Z,1628906814.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:06:54.373Z,1628906814.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:06:54.375Z,1628906814.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:06:54.789Z,1628906814.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:06:55.165Z,1628906815.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,00524,186,80,80,93,FF
2021-08-14T02:06:55.165Z,1628906815.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:06:55.605Z,1628906815.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020655.47*59

2021-08-14T02:06:55.668Z,1628906815.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.459999 m, bearing: 224.134474 deg, deltaT: 4.344506 s, approachRate: -0.649096 m/s, LOS rate: 0.204640 deg/s, posRepo size: 4
2021-08-14T02:06:55.671Z,1628906815.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.459999 m,
      bearing: 224.134474 deg,
      approachRate: -0.649096 m/s,
      LOS rate: 0.204640 deg/s,
      cmd update: 0.613919 deg/s,
      cmd heading: 220.756220 deg,
      new cmd heading: 220.493194 deg.

2021-08-14T02:06:58.049Z,1628906818.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:06:58.401Z,1628906818.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:06:58.401Z,1628906818.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:06:58.401Z,1628906818.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:06:58.402Z,1628906818.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:06:58.801Z,1628906818.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,00524,186,80,80,93,FF
2021-08-14T02:06:58.801Z,1628906818.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:06:58.801Z,1628906818.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:06:58.803Z,1628906818.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:06:59.213Z,1628906819.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:06:59.613Z,1628906819.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,004F6,184,80,80,7C,FF
2021-08-14T02:06:59.614Z,1628906819.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:07:00.058Z,1628906820.058 [Micromodem](INFO): Nmea in: $SNTTA,0.045525,,,,020659.89*4A

2021-08-14T02:07:00.084Z,1628906820.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.699997 m, bearing: 224.613640 deg, deltaT: 4.447797 s, approachRate: -0.620532 m/s, LOS rate: 0.107731 deg/s, posRepo size: 4
2021-08-14T02:07:00.085Z,1628906820.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.70 m.
2021-08-14T02:07:00.087Z,1628906820.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.699997 m,
      bearing: 224.613640 deg,
      approachRate: -0.620532 m/s,
      LOS rate: 0.107731 deg/s,
      cmd update: 0.323193 deg/s,
      cmd heading: 223.488529 deg,
      new cmd heading: 223.764095 deg.

2021-08-14T02:07:00.477Z,1628906820.477 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:07:00.477Z,1628906820.477 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:07:00.478Z,1628906820.478 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:07:00.478Z,1628906820.478 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:07:00.478Z,1628906820.478 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:07:00.478Z,1628906820.478 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:07:00.913Z,1628906820.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:07:00.913Z,1628906820.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:07:00.913Z,1628906820.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:07:00.913Z,1628906820.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:07:02.471Z,1628906822.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:07:02.853Z,1628906822.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:07:02.853Z,1628906822.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:07:02.853Z,1628906822.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:07:02.854Z,1628906822.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:07:03.245Z,1628906823.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,004F6,184,80,80,7C,FF
2021-08-14T02:07:03.245Z,1628906823.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:07:03.245Z,1628906823.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:07:03.247Z,1628906823.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:07:03.667Z,1628906823.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:07:04.053Z,1628906824.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,004CB,187,80,80,A6,FF
2021-08-14T02:07:04.053Z,1628906824.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:07:04.109Z,1628906824.109 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:07:04.485Z,1628906824.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020704.34*58

2021-08-14T02:07:04.528Z,1628906824.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.119999 m, bearing: 222.205356 deg, deltaT: 4.446647 s, approachRate: -0.580212 m/s, LOS rate: -0.541595 deg/s, posRepo size: 4
2021-08-14T02:07:04.528Z,1628906824.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.12 m.
2021-08-14T02:07:04.530Z,1628906824.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.119999 m,
      bearing: 222.205356 deg,
      approachRate: -0.580212 m/s,
      LOS rate: -0.541595 deg/s,
      cmd update: -1.624786 deg/s,
      cmd heading: 224.931646 deg,
      new cmd heading: 225.068408 deg.

2021-08-14T02:07:06.937Z,1628906826.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:07:07.278Z,1628906827.278 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:07:07.278Z,1628906827.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:07:07.279Z,1628906827.279 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:07:07.279Z,1628906827.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:07:07.692Z,1628906827.692 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,004CB,187,80,80,A6,FF
2021-08-14T02:07:07.692Z,1628906827.692 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:07:07.693Z,1628906827.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:07:07.694Z,1628906827.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:07:08.092Z,1628906828.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:07:08.493Z,1628906828.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,0049C,186,80,80,7D,FF
2021-08-14T02:07:08.494Z,1628906828.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:07:08.574Z,1628906828.574 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:07:08.933Z,1628906828.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020708.78*5C

2021-08-14T02:07:08.965Z,1628906828.965 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:07:08.989Z,1628906828.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.300003 m, bearing: 222.056294 deg, deltaT: 4.465809 s, approachRate: -0.631464 m/s, LOS rate: -0.033379 deg/s, posRepo size: 4
2021-08-14T02:07:08.989Z,1628906828.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.30 m.
2021-08-14T02:07:08.992Z,1628906828.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.300003 m,
      bearing: 222.056294 deg,
      approachRate: -0.631464 m/s,
      LOS rate: -0.033379 deg/s,
      cmd update: -0.100136 deg/s,
      cmd heading: 217.667537 deg,
      new cmd heading: 216.989151 deg.

2021-08-14T02:07:11.358Z,1628906831.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:07:11.732Z,1628906831.732 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:07:11.733Z,1628906831.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:07:11.733Z,1628906831.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:07:11.734Z,1628906831.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:07:12.133Z,1628906832.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,0049C,186,80,80,7D,FF
2021-08-14T02:07:12.133Z,1628906832.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:07:12.133Z,1628906832.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:07:12.135Z,1628906832.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:07:12.541Z,1628906832.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:07:12.962Z,1628906832.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,00474,184,80,80,8B,FF
2021-08-14T02:07:12.963Z,1628906832.963 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:07:13.034Z,1628906833.034 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:07:13.405Z,1628906833.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020713.22*59

2021-08-14T02:07:13.446Z,1628906833.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.900002 m, bearing: 221.993606 deg, deltaT: 4.459299 s, approachRate: -0.538202 m/s, LOS rate: -0.014058 deg/s, posRepo size: 4
2021-08-14T02:07:13.446Z,1628906833.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.90 m.
2021-08-14T02:07:13.447Z,1628906833.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.90 m.
2021-08-14T02:07:13.447Z,1628906833.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T02:07:13.449Z,1628906833.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.900002 m,
      bearing: 221.993606 deg,
      approachRate: -0.538202 m/s,
      LOS rate: -0.014058 deg/s,
      cmd update: -0.042173 deg/s,
      cmd heading: 217.221406 deg,
      new cmd heading: 217.179408 deg.

2021-08-14T02:07:15.824Z,1628906835.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:07:16.177Z,1628906836.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:07:16.177Z,1628906836.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:07:16.177Z,1628906836.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:07:16.178Z,1628906836.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:07:16.573Z,1628906836.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,00474,184,80,80,8B,FF
2021-08-14T02:07:16.573Z,1628906836.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:07:16.573Z,1628906836.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:07:16.575Z,1628906836.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:07:16.993Z,1628906836.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:07:17.389Z,1628906837.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,0044C,183,80,80,7F,FF
2021-08-14T02:07:17.389Z,1628906837.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:07:17.445Z,1628906837.445 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:07:17.822Z,1628906837.822 [Micromodem](INFO): Nmea in: $SNTTA,0.044858,,,,020717.67*47

2021-08-14T02:07:17.849Z,1628906837.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.500000 m, bearing: 220.654534 deg, deltaT: 4.411508 s, approachRate: -0.544032 m/s, LOS rate: -0.303541 deg/s, posRepo size: 4
2021-08-14T02:07:17.851Z,1628906837.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.500000 m,
      bearing: 220.654534 deg,
      approachRate: -0.544032 m/s,
      LOS rate: -0.303541 deg/s,
      cmd update: -0.910622 deg/s,
      cmd heading: 217.035349 deg,
      new cmd heading: 217.018053 deg.

2021-08-14T02:07:20.237Z,1628906840.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:07:20.618Z,1628906840.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:07:20.618Z,1628906840.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:07:20.619Z,1628906840.619 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:07:20.620Z,1628906840.620 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:07:21.021Z,1628906841.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,0044C,183,80,80,7F,FF
2021-08-14T02:07:21.021Z,1628906841.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:07:21.021Z,1628906841.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:07:21.023Z,1628906841.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:07:21.424Z,1628906841.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:07:21.829Z,1628906841.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00427,184,80,80,6A,FF
2021-08-14T02:07:21.829Z,1628906841.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:07:21.884Z,1628906841.884 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:07:22.261Z,1628906842.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020722.12*58

2021-08-14T02:07:22.297Z,1628906842.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.280003 m, bearing: 222.008988 deg, deltaT: 4.438765 s, approachRate: -0.500139 m/s, LOS rate: 0.305142 deg/s, posRepo size: 4
2021-08-14T02:07:22.299Z,1628906842.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.280003 m,
      bearing: 222.008988 deg,
      approachRate: -0.500139 m/s,
      LOS rate: 0.305142 deg/s,
      cmd update: 0.915426 deg/s,
      cmd heading: 213.011764 deg,
      new cmd heading: 212.611269 deg.

2021-08-14T02:07:24.759Z,1628906844.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:07:25.065Z,1628906845.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:07:25.065Z,1628906845.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:07:25.066Z,1628906845.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:07:25.067Z,1628906845.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:07:25.461Z,1628906845.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00427,184,80,80,6A,FF
2021-08-14T02:07:25.461Z,1628906845.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:07:25.461Z,1628906845.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:07:25.463Z,1628906845.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:07:25.877Z,1628906845.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:07:26.284Z,1628906846.284 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,003FD,187,80,80,99,FF
2021-08-14T02:07:26.285Z,1628906846.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:07:26.308Z,1628906846.308 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:07:26.749Z,1628906846.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020726.56*5C

2021-08-14T02:07:26.827Z,1628906846.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 224.722677 deg, deltaT: 4.424239 s, approachRate: -0.569590 m/s, LOS rate: 0.613368 deg/s, posRepo size: 4
2021-08-14T02:07:26.833Z,1628906846.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.760000 m,
      bearing: 224.722677 deg,
      approachRate: -0.569590 m/s,
      LOS rate: 0.613368 deg/s,
      cmd update: 1.840105 deg/s,
      cmd heading: 217.081474 deg,
      new cmd heading: 217.561797 deg.

2021-08-14T02:07:29.119Z,1628906849.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:07:29.529Z,1628906849.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:07:29.529Z,1628906849.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:07:29.529Z,1628906849.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:07:29.530Z,1628906849.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:07:29.913Z,1628906849.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,003FD,187,80,80,99,FF
2021-08-14T02:07:29.913Z,1628906849.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:07:29.913Z,1628906849.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:07:29.915Z,1628906849.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:07:30.319Z,1628906850.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:07:30.751Z,1628906850.751 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,003DF,183,80,80,9C,FF
2021-08-14T02:07:30.751Z,1628906850.751 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:07:30.843Z,1628906850.843 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:07:31.157Z,1628906851.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020731.01*58

2021-08-14T02:07:31.195Z,1628906851.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 223.348361 deg, deltaT: 4.534698 s, approachRate: -0.396940 m/s, LOS rate: -0.303067 deg/s, posRepo size: 4
2021-08-14T02:07:31.197Z,1628906851.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 223.348361 deg,
      approachRate: -0.396940 m/s,
      LOS rate: -0.303067 deg/s,
      cmd update: -0.909200 deg/s,
      cmd heading: 225.423563 deg,
      new cmd heading: 226.083986 deg.

2021-08-14T02:07:33.568Z,1628906853.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:07:33.953Z,1628906853.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:07:33.953Z,1628906853.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:07:33.954Z,1628906853.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:07:33.954Z,1628906853.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:07:34.354Z,1628906854.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,003DF,183,80,80,9C,FF
2021-08-14T02:07:34.354Z,1628906854.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:07:34.354Z,1628906854.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:07:34.355Z,1628906854.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:07:34.800Z,1628906854.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:07:35.169Z,1628906855.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,003DF,183,80,80,9C,FF
2021-08-14T02:07:35.170Z,1628906855.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:07:35.196Z,1628906855.196 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:07:35.609Z,1628906855.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020735.45*5C

2021-08-14T02:07:35.631Z,1628906855.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 221.095682 deg, deltaT: 4.353206 s, approachRate: 0.000000 m/s, LOS rate: -0.517476 deg/s, posRepo size: 4
2021-08-14T02:07:35.654Z,1628906855.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 221.095682 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.517476 deg/s,
      cmd update: -1.552427 deg/s,
      cmd heading: 221.463684 deg,
      new cmd heading: 221.063502 deg.

2021-08-14T02:07:38.012Z,1628906858.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:07:38.389Z,1628906858.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:07:38.389Z,1628906858.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:07:38.389Z,1628906858.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:07:38.390Z,1628906858.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:07:38.805Z,1628906858.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,003DF,183,80,80,9C,FF
2021-08-14T02:07:38.805Z,1628906858.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:07:38.805Z,1628906858.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:07:38.807Z,1628906858.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:07:39.205Z,1628906859.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:07:39.605Z,1628906859.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00383,183,80,80,AB,FF
2021-08-14T02:07:39.605Z,1628906859.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:07:39.626Z,1628906859.626 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:07:40.041Z,1628906860.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020739.90*58

2021-08-14T02:07:40.079Z,1628906860.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 222.029478 deg, deltaT: 4.429942 s, approachRate: -1.246066 m/s, LOS rate: 0.210792 deg/s, posRepo size: 4
2021-08-14T02:07:40.081Z,1628906860.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.439999 m,
      bearing: 222.029478 deg,
      approachRate: -1.246066 m/s,
      LOS rate: 0.210792 deg/s,
      cmd update: 0.632376 deg/s,
      cmd heading: 214.583696 deg,
      new cmd heading: 213.875623 deg.

2021-08-14T02:07:42.447Z,1628906862.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:07:42.836Z,1628906862.836 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:07:42.836Z,1628906862.836 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:07:42.837Z,1628906862.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:07:42.837Z,1628906862.837 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:07:43.237Z,1628906863.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00383,183,80,80,AB,FF
2021-08-14T02:07:43.237Z,1628906863.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:07:43.237Z,1628906863.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:07:43.239Z,1628906863.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:07:43.653Z,1628906863.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:07:44.050Z,1628906864.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,0035E,184,80,80,9F,FF
2021-08-14T02:07:44.050Z,1628906864.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:07:44.081Z,1628906864.081 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:07:44.481Z,1628906864.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020744.33*5B

2021-08-14T02:07:44.503Z,1628906864.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.220002 m, bearing: 222.649755 deg, deltaT: 4.454741 s, approachRate: -0.498345 m/s, LOS rate: 0.139240 deg/s, posRepo size: 4
2021-08-14T02:07:44.526Z,1628906864.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.220002 m,
      bearing: 222.649755 deg,
      approachRate: -0.498345 m/s,
      LOS rate: 0.139240 deg/s,
      cmd update: 0.417719 deg/s,
      cmd heading: 217.400719 deg,
      new cmd heading: 217.669857 deg.

2021-08-14T02:07:46.950Z,1628906866.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:07:47.281Z,1628906867.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:07:47.282Z,1628906867.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:07:47.282Z,1628906867.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:07:47.283Z,1628906867.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:07:47.713Z,1628906867.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,0035E,184,80,80,9F,FF
2021-08-14T02:07:47.713Z,1628906867.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:07:47.714Z,1628906867.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:07:47.719Z,1628906867.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:07:48.103Z,1628906868.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:07:48.517Z,1628906868.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00335,183,80,80,AD,FF
2021-08-14T02:07:48.517Z,1628906868.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:07:48.537Z,1628906868.537 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:07:48.932Z,1628906868.932 [Micromodem](INFO): Nmea in: $SNTTA,0.007589,,,,020748.82*40

2021-08-14T02:07:48.998Z,1628906868.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.759997 m, bearing: 220.791643 deg, deltaT: 4.456241 s, approachRate: -0.552036 m/s, LOS rate: -0.416968 deg/s, posRepo size: 4
2021-08-14T02:07:49.005Z,1628906869.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.759997 m,
      bearing: 220.791643 deg,
      approachRate: -0.552036 m/s,
      LOS rate: -0.416968 deg/s,
      cmd update: -1.250905 deg/s,
      cmd heading: 219.262228 deg,
      new cmd heading: 219.456159 deg.

2021-08-14T02:07:51.359Z,1628906871.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:07:51.757Z,1628906871.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:07:51.757Z,1628906871.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:07:51.757Z,1628906871.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:07:51.758Z,1628906871.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:07:52.133Z,1628906872.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00335,183,80,80,AD,FF
2021-08-14T02:07:52.133Z,1628906872.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:07:52.133Z,1628906872.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:07:52.135Z,1628906872.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:07:52.557Z,1628906872.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:07:52.970Z,1628906872.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,0030C,184,80,80,B8,FF
2021-08-14T02:07:52.970Z,1628906872.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:07:53.050Z,1628906873.050 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:07:53.386Z,1628906873.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020753.23*5C

2021-08-14T02:07:53.402Z,1628906873.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.299998 m, bearing: 225.029557 deg, deltaT: 4.512479 s, approachRate: -0.545155 m/s, LOS rate: 0.939154 deg/s, posRepo size: 4
2021-08-14T02:07:53.404Z,1628906873.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 225.029557 deg,
      approachRate: -0.545155 m/s,
      LOS rate: 0.939154 deg/s,
      cmd update: 2.817463 deg/s,
      cmd heading: 213.622543 deg,
      new cmd heading: 213.173064 deg.

2021-08-14T02:07:55.025Z,1628906875.025 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-14T02:07:55.829Z,1628906875.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:07:56.173Z,1628906876.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:07:56.173Z,1628906876.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:07:56.173Z,1628906876.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:07:56.174Z,1628906876.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:07:56.594Z,1628906876.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,0030C,184,80,80,B8,FF
2021-08-14T02:07:56.595Z,1628906876.595 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:07:56.595Z,1628906876.595 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:07:56.597Z,1628906876.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:07:56.992Z,1628906876.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:07:57.402Z,1628906877.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,002E7,186,80,80,B5,FF
2021-08-14T02:07:57.403Z,1628906877.403 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:07:57.425Z,1628906877.425 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:07:57.829Z,1628906877.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020757.69*56

2021-08-14T02:07:57.882Z,1628906877.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 226.987089 deg, deltaT: 4.375259 s, approachRate: -0.507398 m/s, LOS rate: 0.447409 deg/s, posRepo size: 4
2021-08-14T02:07:57.883Z,1628906877.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 226.987089 deg,
      approachRate: -0.507398 m/s,
      LOS rate: 0.447409 deg/s,
      cmd update: 1.342228 deg/s,
      cmd heading: 225.960873 deg,
      new cmd heading: 227.256393 deg.

2021-08-14T02:08:00.231Z,1628906880.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:00.628Z,1628906880.628 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:08:00.629Z,1628906880.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:08:00.629Z,1628906880.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:08:00.631Z,1628906880.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:08:01.021Z,1628906881.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,002E7,186,80,80,B5,FF
2021-08-14T02:08:01.021Z,1628906881.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:08:01.021Z,1628906881.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:08:01.023Z,1628906881.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:08:01.435Z,1628906881.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:08:01.829Z,1628906881.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,002D0,184,80,80,9B,FF
2021-08-14T02:08:01.830Z,1628906881.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:08:02.034Z,1628906882.034 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:08:02.277Z,1628906882.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020802.12*55

2021-08-14T02:08:02.299Z,1628906882.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.699999 m, bearing: 231.214143 deg, deltaT: 4.609116 s, approachRate: -0.299407 m/s, LOS rate: 0.917107 deg/s, posRepo size: 4
2021-08-14T02:08:02.306Z,1628906882.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.699999 m,
      bearing: 231.214143 deg,
      approachRate: -0.299407 m/s,
      LOS rate: 0.917107 deg/s,
      cmd update: 2.751322 deg/s,
      cmd heading: 232.141975 deg,
      new cmd heading: 232.507391 deg.

2021-08-14T02:08:04.782Z,1628906884.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:05.066Z,1628906885.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:08:05.066Z,1628906885.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:08:05.066Z,1628906885.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:08:05.067Z,1628906885.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:08:05.467Z,1628906885.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,002D0,184,80,80,9B,FF
2021-08-14T02:08:05.467Z,1628906885.467 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:08:05.468Z,1628906885.468 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:08:05.470Z,1628906885.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:08:05.881Z,1628906885.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:08:06.282Z,1628906886.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,002C1,186,80,80,7D,FF
2021-08-14T02:08:06.282Z,1628906886.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:08:06.341Z,1628906886.341 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:08:06.749Z,1628906886.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020806.56*51

2021-08-14T02:08:06.813Z,1628906886.813 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T02:08:06.813Z,1628906886.813 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T02:08:06.813Z,1628906886.813 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T02:08:06.813Z,1628906886.813 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T02:08:06.813Z,1628906886.813 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T02:08:06.814Z,1628906886.814 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.800000 m 
2021-08-14T02:08:06.814Z,1628906886.814 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T02:08:06.814Z,1628906886.814 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T02:08:06.814Z,1628906886.814 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T02:08:06.821Z,1628906886.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.800000 m, bearing: 230.915691 deg, deltaT: 4.307171 s, approachRate: -0.208954 m/s, LOS rate: -0.069292 deg/s, posRepo size: 4
2021-08-14T02:08:06.823Z,1628906886.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 230.915691 deg,
      approachRate: -0.208954 m/s,
      LOS rate: -0.069292 deg/s,
      cmd update: -0.207876 deg/s,
      cmd heading: 243.937893 deg,
      new cmd heading: 245.320284 deg.

2021-08-14T02:08:07.178Z,1628906887.178 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T020807: (41.552319, -70.708603)
2021-08-14T02:08:07.178Z,1628906887.178 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T02:08:07.178Z,1628906887.178 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T02:08:07.179Z,1628906887.179 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T02:08:07.179Z,1628906887.179 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T02:08:07.179Z,1628906887.179 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T02:08:07.179Z,1628906887.179 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T02:08:07.179Z,1628906887.179 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T02:08:07.179Z,1628906887.179 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T02:08:07.553Z,1628906887.553 [UniversalFixResidualReporter](INFO): Fix residual: 0.9 %DT, over the last 2220.9 m. Residual distance 20.2 m at bearing 148.4 degrees. Fix at (41.5533, -70.7054) with 0.0 m made good.
2021-08-14T02:08:09.179Z,1628906889.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:09.550Z,1628906889.550 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:08:09.550Z,1628906889.550 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:08:09.550Z,1628906889.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:08:09.551Z,1628906889.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:08:09.949Z,1628906889.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,002C1,186,80,80,7D,FF
2021-08-14T02:08:09.949Z,1628906889.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:08:09.949Z,1628906889.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:08:09.951Z,1628906889.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:08:10.376Z,1628906890.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:08:10.773Z,1628906890.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,002CD,184,80,80,C4,FF
2021-08-14T02:08:10.774Z,1628906890.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:08:10.858Z,1628906890.858 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:08:11.191Z,1628906891.191 [Micromodem](INFO): Nmea in: $SNTTA,0.054805,,,,020811.05*43

2021-08-14T02:08:11.235Z,1628906891.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.520000 m, bearing: 252.560533 deg, deltaT: 4.516692 s, approachRate: 0.159409 m/s, LOS rate: 4.792189 deg/s, posRepo size: 4
2021-08-14T02:08:11.237Z,1628906891.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 252.560533 deg,
      approachRate: 0.159409 m/s,
      LOS rate: 4.792189 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 242.994047 deg,
      new cmd heading: 242.914930 deg.

2021-08-14T02:08:13.623Z,1628906893.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:13.974Z,1628906893.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:08:13.974Z,1628906893.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:08:13.975Z,1628906893.975 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:08:13.976Z,1628906893.976 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:08:14.386Z,1628906894.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,002CD,184,80,80,C4,FF
2021-08-14T02:08:14.386Z,1628906894.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:08:14.386Z,1628906894.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:08:14.388Z,1628906894.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:08:14.800Z,1628906894.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:08:15.190Z,1628906895.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,002EA,183,80,80,79,FF
2021-08-14T02:08:15.190Z,1628906895.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:08:15.263Z,1628906895.263 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:08:15.645Z,1628906895.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020815.48*5C

2021-08-14T02:08:15.646Z,1628906895.646 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,020816,30*76
 expected 4D
2021-08-14T02:08:15.667Z,1628906895.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.259999 m, bearing: 249.764554 deg, deltaT: 4.405041 s, approachRate: 0.395002 m/s, LOS rate: -0.634723 deg/s, posRepo size: 4
2021-08-14T02:08:15.669Z,1628906895.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 249.764554 deg,
      approachRate: 0.395002 m/s,
      LOS rate: -0.634723 deg/s,
      cmd update: -1.904168 deg/s,
      cmd heading: 295.720944 deg,
      new cmd heading: 300.743604 deg.

2021-08-14T02:08:18.065Z,1628906898.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:18.425Z,1628906898.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:08:18.425Z,1628906898.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:08:18.425Z,1628906898.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:08:18.426Z,1628906898.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:08:18.837Z,1628906898.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,002EA,183,80,80,79,FF
2021-08-14T02:08:18.837Z,1628906898.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:08:18.837Z,1628906898.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:08:18.839Z,1628906898.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:08:19.241Z,1628906899.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:08:19.641Z,1628906899.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,00310,186,80,80,46,FF
2021-08-14T02:08:19.641Z,1628906899.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:08:19.662Z,1628906899.662 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:08:20.079Z,1628906900.079 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020819.93*56

2021-08-14T02:08:20.151Z,1628906900.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 290.208946 deg, deltaT: 4.398934 s, approachRate: 0.518308 m/s, LOS rate: 9.194135 deg/s, posRepo size: 4
2021-08-14T02:08:20.158Z,1628906900.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 290.208946 deg,
      approachRate: 0.518308 m/s,
      LOS rate: 9.194135 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 287.323325 deg,
      new cmd heading: 286.385201 deg.

2021-08-14T02:08:22.483Z,1628906902.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:22.869Z,1628906902.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:08:22.869Z,1628906902.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:08:22.869Z,1628906902.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:08:22.870Z,1628906902.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:08:23.281Z,1628906903.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,00310,186,80,80,46,FF
2021-08-14T02:08:23.282Z,1628906903.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:08:23.282Z,1628906903.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:08:23.284Z,1628906903.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:08:23.683Z,1628906903.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:08:24.085Z,1628906904.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,00330,187,80,80,68,FF
2021-08-14T02:08:24.086Z,1628906904.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:08:24.152Z,1628906904.152 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:08:24.525Z,1628906904.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020824.38*59

2021-08-14T02:08:24.558Z,1628906904.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 293.478257 deg, deltaT: 4.494798 s, approachRate: 0.427160 m/s, LOS rate: 0.727354 deg/s, posRepo size: 4
2021-08-14T02:08:24.560Z,1628906904.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 293.478257 deg,
      approachRate: 0.427160 m/s,
      LOS rate: 0.727354 deg/s,
      cmd update: 2.182063 deg/s,
      cmd heading: 341.131111 deg,
      new cmd heading: 346.110631 deg.

2021-08-14T02:08:26.994Z,1628906906.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:27.314Z,1628906907.314 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:08:27.314Z,1628906907.314 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:08:27.314Z,1628906907.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:08:27.315Z,1628906907.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:08:27.725Z,1628906907.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F50,000,00330,187,80,80,68,FF
2021-08-14T02:08:27.725Z,1628906907.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:08:27.726Z,1628906907.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:08:27.731Z,1628906907.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:08:28.134Z,1628906908.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:08:28.525Z,1628906908.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D92,000,0035A,189,80,80,76,FF
2021-08-14T02:08:28.525Z,1628906908.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:08:28.572Z,1628906908.572 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:08:28.973Z,1628906908.973 [Micromodem](INFO): Nmea in: $SNTTA,0.008887,,,,020828.82*45

2021-08-14T02:08:29.079Z,1628906909.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.980000 m, bearing: 335.772127 deg, deltaT: 4.415836 s, approachRate: 0.570674 m/s, LOS rate: 9.577772 deg/s, posRepo size: 4
2021-08-14T02:08:29.079Z,1628906909.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.98 m. Rolling out.
2021-08-14T02:08:29.079Z,1628906909.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T02:08:30.566Z,1628906910.566 [PowerOnly](INFO): Powering down loadControl
2021-08-14T02:08:31.403Z,1628906911.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:31.781Z,1628906911.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:08:31.781Z,1628906911.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:08:31.781Z,1628906911.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:08:31.782Z,1628906911.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:08:32.166Z,1628906912.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D92,000,0035A,189,80,80,76,FF
2021-08-14T02:08:32.166Z,1628906912.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:08:32.166Z,1628906912.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:08:32.168Z,1628906912.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:08:32.569Z,1628906912.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:08:32.981Z,1628906912.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,00368,187,80,80,84,FF
2021-08-14T02:08:32.981Z,1628906912.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:08:33.095Z,1628906913.095 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:08:33.409Z,1628906913.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020833.26*50

2021-08-14T02:08:33.442Z,1628906913.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.820001 m, bearing: 350.081346 deg, deltaT: 4.523589 s, approachRate: 0.185693 m/s, LOS rate: 3.163245 deg/s, posRepo size: 4
2021-08-14T02:08:35.850Z,1628906915.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:36.209Z,1628906916.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:08:36.209Z,1628906916.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:08:36.209Z,1628906916.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:08:36.210Z,1628906916.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:08:36.618Z,1628906916.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,00368,187,80,80,84,FF
2021-08-14T02:08:36.618Z,1628906916.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:08:36.618Z,1628906916.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:08:36.622Z,1628906916.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:08:37.021Z,1628906917.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:08:37.418Z,1628906917.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8C,000,0037B,185,80,80,62,FF
2021-08-14T02:08:37.418Z,1628906917.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:08:37.442Z,1628906917.442 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:08:37.842Z,1628906917.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020837.72*55

2021-08-14T02:08:37.874Z,1628906917.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 4.801521 deg, deltaT: 4.346337 s, approachRate: 0.262290 m/s, LOS rate: 3.386799 deg/s, posRepo size: 4
2021-08-14T02:08:40.277Z,1628906920.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:40.668Z,1628906920.668 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:08:40.669Z,1628906920.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:08:40.669Z,1628906920.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:08:40.671Z,1628906920.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:08:41.049Z,1628906921.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8C,000,0037B,185,80,80,62,FF
2021-08-14T02:08:41.049Z,1628906921.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:08:41.049Z,1628906921.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:08:41.051Z,1628906921.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:08:41.461Z,1628906921.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:08:42.282Z,1628906922.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020842.14*57

2021-08-14T02:08:42.782Z,1628906922.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:44.742Z,1628906924.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,185,80,80,62,FF
2021-08-14T02:08:44.742Z,1628906924.742 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,185,80,80,62,FF
2021-08-14T02:08:44.742Z,1628906924.742 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:08:45.516Z,1628906925.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:45.901Z,1628906925.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:08:45.901Z,1628906925.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:08:45.901Z,1628906925.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:08:45.902Z,1628906925.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:08:46.310Z,1628906926.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,185,80,80,62,FF
2021-08-14T02:08:46.311Z,1628906926.311 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:08:46.311Z,1628906926.311 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:08:46.313Z,1628906926.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:08:46.748Z,1628906926.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:08:47.113Z,1628906927.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,003B2,187,80,80,9D,FF
2021-08-14T02:08:47.113Z,1628906927.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:08:47.154Z,1628906927.154 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:08:47.553Z,1628906927.553 [Micromodem](INFO): Nmea in: $SNTTA,0.037821,,,,020847.41*43

2021-08-14T02:08:47.587Z,1628906927.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 22.727381 deg, deltaT: 9.712073 s, approachRate: 0.339783 m/s, LOS rate: 1.845729 deg/s, posRepo size: 4
2021-08-14T02:08:49.981Z,1628906929.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:50.339Z,1628906930.339 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:08:50.339Z,1628906930.339 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:08:50.340Z,1628906930.340 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:08:50.341Z,1628906930.341 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:08:50.837Z,1628906930.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,003B2,187,80,80,9D,FF
2021-08-14T02:08:50.837Z,1628906930.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:08:50.838Z,1628906930.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:08:50.839Z,1628906930.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:08:50.980Z,1628906930.980 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:08:51.233Z,1628906931.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:08:51.638Z,1628906931.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,003D6,186,80,80,7F,FF
2021-08-14T02:08:51.638Z,1628906931.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:08:51.662Z,1628906931.662 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:08:52.078Z,1628906932.078 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020851.93*5A

2021-08-14T02:08:52.107Z,1628906932.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 16.298467 deg, deltaT: 4.507768 s, approachRate: 0.479173 m/s, LOS rate: -1.426186 deg/s, posRepo size: 4
2021-08-14T02:08:54.489Z,1628906934.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:54.865Z,1628906934.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:08:54.865Z,1628906934.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:08:54.865Z,1628906934.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:08:54.866Z,1628906934.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:08:55.273Z,1628906935.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,003D6,186,80,80,7F,FF
2021-08-14T02:08:55.273Z,1628906935.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:08:55.273Z,1628906935.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:08:55.275Z,1628906935.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:08:55.792Z,1628906935.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:08:56.077Z,1628906936.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,00403,186,80,80,87,FF
2021-08-14T02:08:56.077Z,1628906936.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:08:56.186Z,1628906936.186 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:08:56.522Z,1628906936.522 [Micromodem](INFO): Nmea in: $SNTTA,0.034577,,,,020856.37*4F

2021-08-14T02:08:56.543Z,1628906936.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 18.340602 deg, deltaT: 4.524167 s, approachRate: 0.596795 m/s, LOS rate: 0.451384 deg/s, posRepo size: 4
2021-08-14T02:08:58.981Z,1628906938.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:08:59.310Z,1628906939.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:08:59.310Z,1628906939.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:08:59.310Z,1628906939.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:08:59.311Z,1628906939.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:08:59.724Z,1628906939.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,00403,186,80,80,87,FF
2021-08-14T02:08:59.725Z,1628906939.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:08:59.725Z,1628906939.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:08:59.731Z,1628906939.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:09:00.133Z,1628906940.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:09:00.518Z,1628906940.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CF,000,0042C,18A,80,80,4C,FF
2021-08-14T02:09:00.518Z,1628906940.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:09:00.571Z,1628906940.571 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:09:00.965Z,1628906940.965 [Micromodem](INFO): Nmea in: $SNTTA,,0.361379,,,020900.82*48

2021-08-14T02:09:01.046Z,1628906941.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 319.704817 deg, deltaT: 4.393307 s, approachRate: 0.559942 m/s, LOS rate: -13.346613 deg/s, posRepo size: 4
2021-08-14T02:09:03.371Z,1628906943.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:09:03.777Z,1628906943.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:09:03.777Z,1628906943.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:09:03.777Z,1628906943.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:09:03.778Z,1628906943.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:09:04.161Z,1628906944.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CF,000,0042C,18A,80,80,4C,FF
2021-08-14T02:09:04.161Z,1628906944.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:09:04.161Z,1628906944.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:09:04.163Z,1628906944.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:09:04.572Z,1628906944.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:09:05.402Z,1628906945.402 [Micromodem](INFO): Nmea in: $SNTTA,0.029369,,,,020905.26*4D

2021-08-14T02:09:06.212Z,1628906946.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:09:07.012Z,1628906947.012 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:09:07.801Z,1628906947.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,18A,80,80,4C,FF
2021-08-14T02:09:07.801Z,1628906947.801 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,18A,80,80,4C,FF
2021-08-14T02:09:07.801Z,1628906947.801 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:09:09.089Z,1628906949.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:09:09.409Z,1628906949.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:09:09.409Z,1628906949.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:09:09.409Z,1628906949.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:09:09.410Z,1628906949.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:09:09.825Z,1628906949.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,18A,80,80,4C,FF
2021-08-14T02:09:09.825Z,1628906949.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:09:09.825Z,1628906949.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:09:09.827Z,1628906949.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:09:10.228Z,1628906950.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:09:10.626Z,1628906950.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C65,000,0048F,188,80,80,62,FF
2021-08-14T02:09:10.627Z,1628906950.627 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:09:10.671Z,1628906950.671 [Micromodem](INFO): Nmea in: $SNTTA,0.043845,0.313883,,,020910.92*53

2021-08-14T02:09:10.766Z,1628906950.766 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:09:11.074Z,1628906951.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.520000 m, bearing: 41.940736 deg, deltaT: 10.186229 s, approachRate: 0.583140 m/s, LOS rate: 8.073246 deg/s, posRepo size: 4
2021-08-14T02:09:13.482Z,1628906953.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:09:13.868Z,1628906953.868 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:09:13.868Z,1628906953.868 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:09:13.869Z,1628906953.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:09:13.869Z,1628906953.869 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:09:14.265Z,1628906954.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C65,000,0048F,188,80,80,62,FF
2021-08-14T02:09:14.265Z,1628906954.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:09:14.265Z,1628906954.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:09:14.267Z,1628906954.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:09:14.739Z,1628906954.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:09:15.065Z,1628906955.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D31,000,004B3,189,80,80,69,FF
2021-08-14T02:09:15.065Z,1628906955.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:09:15.085Z,1628906955.085 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:09:15.509Z,1628906955.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020915.36*54

2021-08-14T02:09:15.531Z,1628906955.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.680000 m, bearing: 31.551584 deg, deltaT: 4.319507 s, approachRate: 0.500057 m/s, LOS rate: -2.405171 deg/s, posRepo size: 4
2021-08-14T02:09:17.931Z,1628906957.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:09:18.301Z,1628906958.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:09:18.302Z,1628906958.302 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:09:18.302Z,1628906958.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:09:18.303Z,1628906958.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:09:18.732Z,1628906958.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D31,000,004B3,189,80,80,69,FF
2021-08-14T02:09:18.733Z,1628906958.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:09:18.734Z,1628906958.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:09:18.736Z,1628906958.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:09:19.112Z,1628906959.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:09:19.512Z,1628906959.512 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6A,000,004E4,189,80,80,64,FF
2021-08-14T02:09:19.512Z,1628906959.512 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:09:19.516Z,1628906959.516 [Micromodem](INFO): Nmea in: $SNTTA,0.040282,0.194958,,,020919.83*52

2021-08-14T02:09:19.534Z,1628906959.534 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:09:19.948Z,1628906959.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.620003 m, bearing: 28.769218 deg, deltaT: 4.448595 s, approachRate: 0.660883 m/s, LOS rate: -0.625448 deg/s, posRepo size: 4
2021-08-14T02:09:22.353Z,1628906962.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:09:22.761Z,1628906962.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:09:22.761Z,1628906962.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:09:22.761Z,1628906962.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:09:22.762Z,1628906962.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:09:23.149Z,1628906963.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6A,000,004E4,189,80,80,64,FF
2021-08-14T02:09:23.149Z,1628906963.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:09:23.149Z,1628906963.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:09:23.151Z,1628906963.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:09:23.548Z,1628906963.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:09:23.953Z,1628906963.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,005AD,187,80,80,1E,FF
2021-08-14T02:09:23.953Z,1628906963.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:09:24.007Z,1628906964.007 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:09:24.389Z,1628906964.389 [Micromodem](INFO): Nmea in: $SNTTA,0.039790,,,,020924.25*4E

2021-08-14T02:09:24.419Z,1628906964.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.679996 m, bearing: 5.522826 deg, deltaT: 4.473060 s, approachRate: 2.696140 m/s, LOS rate: -5.196977 deg/s, posRepo size: 4
2021-08-14T02:09:24.845Z,1628906964.845 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:09:24.846Z,1628906964.846 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:09:24.846Z,1628906964.846 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:09:24.846Z,1628906964.846 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:09:24.847Z,1628906964.847 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:09:24.847Z,1628906964.847 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:09:25.194Z,1628906965.194 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:09:25.194Z,1628906965.194 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:09:25.194Z,1628906965.194 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:09:25.194Z,1628906965.194 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:09:26.838Z,1628906966.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:09:27.181Z,1628906967.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:09:27.181Z,1628906967.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:09:27.181Z,1628906967.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:09:27.182Z,1628906967.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:09:27.585Z,1628906967.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,005AD,187,80,80,1E,FF
2021-08-14T02:09:27.585Z,1628906967.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:09:27.585Z,1628906967.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:09:27.587Z,1628906967.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:09:28.018Z,1628906968.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:09:28.398Z,1628906968.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,00549,186,80,80,5A,FF
2021-08-14T02:09:28.398Z,1628906968.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:09:28.829Z,1628906968.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020928.68*51

2021-08-14T02:09:28.894Z,1628906968.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.680000 m, bearing: 18.337950 deg, deltaT: 4.410234 s, approachRate: -1.360471 m/s, LOS rate: 2.905770 deg/s, posRepo size: 4
2021-08-14T02:09:31.250Z,1628906971.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:09:31.633Z,1628906971.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:09:31.633Z,1628906971.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:09:31.633Z,1628906971.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:09:31.634Z,1628906971.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:09:32.029Z,1628906972.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,00549,186,80,80,5A,FF
2021-08-14T02:09:32.029Z,1628906972.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:09:32.029Z,1628906972.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:09:32.031Z,1628906972.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:09:32.440Z,1628906972.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:09:32.845Z,1628906972.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,00576,186,80,80,9C,FF
2021-08-14T02:09:32.845Z,1628906972.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:09:32.849Z,1628906972.849 [Micromodem](INFO): Nmea in: $SNTTA,0.209768,0.208762,,,020933.12*5D

2021-08-14T02:09:33.303Z,1628906973.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.380001 m, bearing: 12.879073 deg, deltaT: 4.528798 s, approachRate: 0.596185 m/s, LOS rate: -1.205370 deg/s, posRepo size: 4
2021-08-14T02:09:35.750Z,1628906975.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:09:36.069Z,1628906976.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:09:36.069Z,1628906976.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:09:36.069Z,1628906976.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:09:36.070Z,1628906976.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:09:36.489Z,1628906976.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,00576,186,80,80,9C,FF
2021-08-14T02:09:36.490Z,1628906976.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:09:36.490Z,1628906976.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:09:36.491Z,1628906976.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:09:36.890Z,1628906976.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:09:37.314Z,1628906977.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF9,000,005AB,186,80,80,9C,FF
2021-08-14T02:09:37.315Z,1628906977.315 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:09:37.753Z,1628906977.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.560001 m, bearing: 8.180979 deg, deltaT: 4.396089 s, approachRate: 0.723370 m/s, LOS rate: -1.068698 deg/s, posRepo size: 4
2021-08-14T02:09:40.138Z,1628906980.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:09:40.517Z,1628906980.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:09:40.517Z,1628906980.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:09:40.517Z,1628906980.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:09:40.518Z,1628906980.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:09:40.913Z,1628906980.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF9,000,005AB,186,80,80,9C,FF
2021-08-14T02:09:40.913Z,1628906980.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:09:40.913Z,1628906980.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:09:40.915Z,1628906980.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:09:41.341Z,1628906981.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:09:41.737Z,1628906981.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,005E3,186,80,80,44,FF
2021-08-14T02:09:41.738Z,1628906981.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:09:42.169Z,1628906982.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020942.01*52

2021-08-14T02:09:42.206Z,1628906982.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.919994 m, bearing: 12.395301 deg, deltaT: 4.451786 s, approachRate: 0.754752 m/s, LOS rate: 0.946659 deg/s, posRepo size: 4
2021-08-14T02:09:44.606Z,1628906984.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:09:44.957Z,1628906984.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:09:44.957Z,1628906984.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:09:44.957Z,1628906984.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:09:44.958Z,1628906984.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:09:45.374Z,1628906985.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,005E3,186,80,80,44,FF
2021-08-14T02:09:45.374Z,1628906985.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:09:45.375Z,1628906985.375 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:09:45.385Z,1628906985.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:09:45.789Z,1628906985.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:09:46.182Z,1628906986.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,00615,186,80,80,7C,FF
2021-08-14T02:09:46.182Z,1628906986.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:09:46.609Z,1628906986.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020946.48*5B

2021-08-14T02:09:46.726Z,1628906986.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.920002 m, bearing: 5.998942 deg, deltaT: 4.435470 s, approachRate: 0.676367 m/s, LOS rate: -1.442093 deg/s, posRepo size: 4
2021-08-14T02:09:48.734Z,1628906988.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:09:49.009Z,1628906989.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:09:49.009Z,1628906989.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:09:49.009Z,1628906989.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:09:49.010Z,1628906989.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:09:49.415Z,1628906989.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,00615,186,80,80,7C,FF
2021-08-14T02:09:49.416Z,1628906989.416 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:09:49.416Z,1628906989.416 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:09:49.419Z,1628906989.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:09:49.829Z,1628906989.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:09:50.217Z,1628906990.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00646,187,80,80,2F,FF
2021-08-14T02:09:50.217Z,1628906990.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:09:50.673Z,1628906990.673 [Micromodem](INFO): Nmea in: $SNTTA,0.045639,,,,020950.51*47

2021-08-14T02:09:50.773Z,1628906990.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.860004 m, bearing: 8.388454 deg, deltaT: 4.050320 s, approachRate: 0.725869 m/s, LOS rate: 0.589956 deg/s, posRepo size: 4
2021-08-14T02:09:53.076Z,1628906993.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:09:53.446Z,1628906993.446 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:09:53.446Z,1628906993.446 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:09:53.447Z,1628906993.447 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:09:53.464Z,1628906993.464 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:09:53.849Z,1628906993.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,00646,187,80,80,2F,FF
2021-08-14T02:09:53.849Z,1628906993.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:09:53.850Z,1628906993.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:09:53.851Z,1628906993.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:09:54.260Z,1628906994.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:09:54.681Z,1628906994.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,0067C,186,80,80,67,FF
2021-08-14T02:09:54.682Z,1628906994.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:09:55.102Z,1628906995.102 [Micromodem](INFO): Nmea in: $SNTTA,0.046567,,,,020954.95*40

2021-08-14T02:09:55.153Z,1628906995.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.100002 m, bearing: 6.581192 deg, deltaT: 4.514538 s, approachRate: 0.717681 m/s, LOS rate: -0.400320 deg/s, posRepo size: 4
2021-08-14T02:09:57.509Z,1628906997.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:09:57.897Z,1628906997.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:09:57.897Z,1628906997.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:09:57.898Z,1628906997.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:09:57.898Z,1628906997.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:09:58.297Z,1628906998.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,0067C,186,80,80,67,FF
2021-08-14T02:09:58.297Z,1628906998.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:09:58.297Z,1628906998.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:09:58.299Z,1628906998.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:09:58.747Z,1628906998.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:09:59.109Z,1628906999.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,006B1,186,80,80,81,FF
2021-08-14T02:09:59.109Z,1628906999.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:09:59.545Z,1628906999.545 [Micromodem](INFO): Nmea in: $SNTTA,0.042971,,,,020959.39*44

2021-08-14T02:09:59.567Z,1628906999.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.280006 m, bearing: 1.344946 deg, deltaT: 4.342905 s, approachRate: 0.732230 m/s, LOS rate: -1.205701 deg/s, posRepo size: 4
2021-08-14T02:10:01.961Z,1628907001.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:02.343Z,1628907002.343 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:10:02.344Z,1628907002.344 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:10:02.344Z,1628907002.344 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:10:02.345Z,1628907002.345 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:10:02.761Z,1628907002.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,006B1,186,80,80,81,FF
2021-08-14T02:10:02.761Z,1628907002.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:10:02.761Z,1628907002.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:10:02.763Z,1628907002.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:10:03.145Z,1628907003.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:10:03.541Z,1628907003.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,006E5,186,80,80,95,FF
2021-08-14T02:10:03.542Z,1628907003.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:10:03.973Z,1628907003.973 [Micromodem](INFO): Nmea in: $SNTTA,0.053072,,,,021003.86*4D

2021-08-14T02:10:04.005Z,1628907004.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.400009 m, bearing: 2.413557 deg, deltaT: 4.460824 s, approachRate: 0.699423 m/s, LOS rate: 0.239555 deg/s, posRepo size: 4
2021-08-14T02:10:06.399Z,1628907006.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:06.786Z,1628907006.786 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:10:06.787Z,1628907006.787 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:10:06.787Z,1628907006.787 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:10:06.788Z,1628907006.788 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:10:07.181Z,1628907007.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,006E5,186,80,80,95,FF
2021-08-14T02:10:07.181Z,1628907007.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:10:07.181Z,1628907007.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:10:07.183Z,1628907007.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:10:07.588Z,1628907007.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:10:07.998Z,1628907007.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,00717,187,80,80,A0,FF
2021-08-14T02:10:07.999Z,1628907007.999 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:10:08.437Z,1628907008.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021008.28*5F

2021-08-14T02:10:08.459Z,1628907008.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.400002 m, bearing: 359.498346 deg, deltaT: 4.498618 s, approachRate: 0.666870 m/s, LOS rate: -0.648027 deg/s, posRepo size: 4
2021-08-14T02:10:10.909Z,1628907010.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:11.221Z,1628907011.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:10:11.221Z,1628907011.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:10:11.221Z,1628907011.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:10:11.222Z,1628907011.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:10:11.629Z,1628907011.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,00717,187,80,80,A0,FF
2021-08-14T02:10:11.629Z,1628907011.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:10:11.629Z,1628907011.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:10:11.631Z,1628907011.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:10:12.038Z,1628907012.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:10:12.433Z,1628907012.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,0074C,184,80,80,9E,FF
2021-08-14T02:10:12.433Z,1628907012.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:10:12.877Z,1628907012.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021012.72*5B

2021-08-14T02:10:12.971Z,1628907012.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.580009 m, bearing: 357.498685 deg, deltaT: 4.397505 s, approachRate: 0.723139 m/s, LOS rate: -0.454726 deg/s, posRepo size: 4
2021-08-14T02:10:15.279Z,1628907015.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:15.674Z,1628907015.674 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:10:15.674Z,1628907015.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:10:15.674Z,1628907015.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:10:15.675Z,1628907015.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:10:16.065Z,1628907016.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,0074C,184,80,80,9E,FF
2021-08-14T02:10:16.065Z,1628907016.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:10:16.066Z,1628907016.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:10:16.067Z,1628907016.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:10:16.480Z,1628907016.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:10:17.311Z,1628907017.311 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021017.16*5C

2021-08-14T02:10:18.142Z,1628907018.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:19.716Z,1628907019.716 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,9E,FF
2021-08-14T02:10:19.717Z,1628907019.717 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,9E,FF
2021-08-14T02:10:19.718Z,1628907019.718 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:10:20.978Z,1628907020.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:21.326Z,1628907021.326 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:10:21.326Z,1628907021.326 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:10:21.326Z,1628907021.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:10:21.327Z,1628907021.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:10:21.741Z,1628907021.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,9E,FF
2021-08-14T02:10:21.741Z,1628907021.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:10:21.741Z,1628907021.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:10:21.743Z,1628907021.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:10:22.139Z,1628907022.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:10:22.958Z,1628907022.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021022.84*51

2021-08-14T02:10:23.805Z,1628907023.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:25.373Z,1628907025.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,09176,183,80,80,85,FF
2021-08-14T02:10:25.373Z,1628907025.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:10:25.833Z,1628907025.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2196.780029 m, bearing: 352.627121 deg, deltaT: 12.924070 s, approachRate: 164.205231 m/s, LOS rate: -0.376937 deg/s, posRepo size: 4
2021-08-14T02:10:25.833Z,1628907025.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2196.78 m. Resuming terminal guidance.
2021-08-14T02:10:25.834Z,1628907025.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T02:10:28.221Z,1628907028.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:28.593Z,1628907028.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:10:28.593Z,1628907028.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:10:28.593Z,1628907028.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:10:28.594Z,1628907028.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:10:28.997Z,1628907028.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,09176,183,80,80,85,FF
2021-08-14T02:10:28.997Z,1628907028.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:10:28.997Z,1628907028.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:10:28.999Z,1628907028.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:10:29.408Z,1628907029.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:10:29.809Z,1628907029.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,00424,183,80,80,A1,FF
2021-08-14T02:10:29.809Z,1628907029.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:10:30.241Z,1628907030.241 [Micromodem](INFO): Nmea in: $SNTTA,0.044191,,,,021030.09*40

2021-08-14T02:10:30.271Z,1628907030.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.099998 m, bearing: 352.033414 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T02:10:30.272Z,1628907030.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 26.10 m.
2021-08-14T02:10:30.273Z,1628907030.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 352.033414deg and heading rate command to 0 deg/s.
2021-08-14T02:10:30.684Z,1628907030.684 [PowerOnly](INFO): Powering up loadControl
2021-08-14T02:10:30.812Z,1628907030.812 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:10:30.813Z,1628907030.813 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:10:30.814Z,1628907030.814 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:10:30.814Z,1628907030.814 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:10:30.815Z,1628907030.815 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:10:30.815Z,1628907030.815 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:10:31.073Z,1628907031.073 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:10:31.073Z,1628907031.073 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:10:31.073Z,1628907031.073 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:10:31.073Z,1628907031.073 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:10:32.728Z,1628907032.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:33.037Z,1628907033.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:10:33.037Z,1628907033.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:10:33.038Z,1628907033.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:10:33.039Z,1628907033.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:10:33.441Z,1628907033.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,00424,183,80,80,A1,FF
2021-08-14T02:10:33.441Z,1628907033.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:10:33.441Z,1628907033.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:10:33.443Z,1628907033.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:10:33.860Z,1628907033.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:10:34.701Z,1628907034.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021034.54*5B

2021-08-14T02:10:34.760Z,1628907034.760 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:10:35.490Z,1628907035.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:36.737Z,1628907036.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:10:36.737Z,1628907036.737 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:10:36.738Z,1628907036.738 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:10:38.317Z,1628907038.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:38.809Z,1628907038.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:10:38.809Z,1628907038.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:10:38.809Z,1628907038.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:10:38.810Z,1628907038.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:10:39.105Z,1628907039.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:10:39.105Z,1628907039.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:10:39.105Z,1628907039.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:10:39.107Z,1628907039.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:10:39.508Z,1628907039.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:10:40.339Z,1628907040.339 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021040.20*5B

2021-08-14T02:10:40.826Z,1628907040.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:42.748Z,1628907042.748 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:10:42.749Z,1628907042.749 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:10:42.749Z,1628907042.749 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:10:43.591Z,1628907043.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:43.949Z,1628907043.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:10:43.949Z,1628907043.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:10:43.949Z,1628907043.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:10:43.950Z,1628907043.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:10:44.365Z,1628907044.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:10:44.365Z,1628907044.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:10:44.365Z,1628907044.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:10:44.367Z,1628907044.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:10:44.780Z,1628907044.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:10:45.611Z,1628907045.611 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021045.46*5E

2021-08-14T02:10:46.398Z,1628907046.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:47.982Z,1628907047.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:10:47.982Z,1628907047.982 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:10:47.982Z,1628907047.982 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:10:49.224Z,1628907049.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:49.609Z,1628907049.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:10:49.609Z,1628907049.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:10:49.609Z,1628907049.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:10:49.610Z,1628907049.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:10:50.014Z,1628907050.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:10:50.014Z,1628907050.014 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:10:50.014Z,1628907050.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:10:50.015Z,1628907050.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:10:50.418Z,1628907050.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:10:51.234Z,1628907051.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021051.11*59

2021-08-14T02:10:52.066Z,1628907052.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:53.649Z,1628907053.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:10:53.649Z,1628907053.649 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:10:53.649Z,1628907053.649 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:10:54.935Z,1628907054.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:55.261Z,1628907055.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:10:55.261Z,1628907055.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:10:55.261Z,1628907055.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:10:55.262Z,1628907055.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:10:55.669Z,1628907055.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:10:55.669Z,1628907055.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:10:55.669Z,1628907055.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:10:55.671Z,1628907055.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:10:56.072Z,1628907056.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:10:56.895Z,1628907056.895 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021056.77*5E

2021-08-14T02:10:57.752Z,1628907057.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:10:59.306Z,1628907059.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:10:59.306Z,1628907059.306 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:10:59.306Z,1628907059.306 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:11:00.527Z,1628907060.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:00.925Z,1628907060.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:11:00.925Z,1628907060.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:11:00.925Z,1628907060.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:11:00.926Z,1628907060.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:11:01.326Z,1628907061.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,183,80,80,A1,FF
2021-08-14T02:11:01.326Z,1628907061.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:11:01.326Z,1628907061.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:11:01.328Z,1628907061.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:11:01.761Z,1628907061.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:11:02.133Z,1628907062.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,00993,187,80,80,78,FF
2021-08-14T02:11:02.133Z,1628907062.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:11:02.153Z,1628907062.153 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:11:02.581Z,1628907062.581 [Micromodem](INFO): Nmea in: $SNTTA,0.075359,,,,021102.42*4B

2021-08-14T02:11:02.597Z,1628907062.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.560005 m, bearing: 3.565279 deg, deltaT: 32.286368 s, approachRate: 2.584992 m/s, LOS rate: 0.357174 deg/s, posRepo size: 2
2021-08-14T02:11:02.598Z,1628907062.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.560005 m,
      bearing: 3.565279 deg,
      approachRate: 2.584992 m/s,
      LOS rate: 0.357174 deg/s,
      cmd update: 1.071523 deg/s,
      cmd heading: 352.033414 deg,
      new cmd heading: 352.033414 deg.

2021-08-14T02:11:03.009Z,1628907063.009 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:11:03.009Z,1628907063.009 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:11:03.010Z,1628907063.010 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:11:03.010Z,1628907063.010 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:11:03.010Z,1628907063.010 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:11:03.010Z,1628907063.010 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:11:03.389Z,1628907063.389 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:11:03.389Z,1628907063.389 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:11:03.389Z,1628907063.389 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:11:03.390Z,1628907063.390 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:11:05.041Z,1628907065.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:05.361Z,1628907065.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:11:05.361Z,1628907065.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:11:05.361Z,1628907065.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:11:05.362Z,1628907065.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:11:05.781Z,1628907065.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,00993,187,80,80,78,FF
2021-08-14T02:11:05.781Z,1628907065.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:11:05.781Z,1628907065.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:11:05.783Z,1628907065.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:11:06.165Z,1628907066.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:11:06.990Z,1628907066.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021106.88*5A

2021-08-14T02:11:07.833Z,1628907067.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:09.397Z,1628907069.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,187,80,80,78,FF
2021-08-14T02:11:09.397Z,1628907069.397 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,187,80,80,78,FF
2021-08-14T02:11:09.397Z,1628907069.397 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:11:10.703Z,1628907070.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:11.013Z,1628907071.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:11:11.013Z,1628907071.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:11:11.013Z,1628907071.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:11:11.014Z,1628907071.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:11:11.431Z,1628907071.431 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,187,80,80,78,FF
2021-08-14T02:11:11.431Z,1628907071.431 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:11:11.431Z,1628907071.431 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:11:11.434Z,1628907071.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:11:11.824Z,1628907071.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:11:12.230Z,1628907072.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,0086F,185,80,80,5A,FF
2021-08-14T02:11:12.230Z,1628907072.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:11:12.692Z,1628907072.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021112.53*59

2021-08-14T02:11:12.790Z,1628907072.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.040001 m, bearing: 20.011037 deg, deltaT: 10.126497 s, approachRate: -1.730115 m/s, LOS rate: 1.624032 deg/s, posRepo size: 3
2021-08-14T02:11:12.792Z,1628907072.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.040001 m,
      bearing: 20.011037 deg,
      approachRate: -1.730115 m/s,
      LOS rate: 1.624032 deg/s,
      cmd update: 4.872096 deg/s,
      cmd heading: 2.860533 deg,
      new cmd heading: 3.434703 deg.

2021-08-14T02:11:14.790Z,1628907074.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:15.053Z,1628907075.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:11:15.053Z,1628907075.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:11:15.053Z,1628907075.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:11:15.054Z,1628907075.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:11:15.466Z,1628907075.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,0086F,185,80,80,5A,FF
2021-08-14T02:11:15.467Z,1628907075.467 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:11:15.467Z,1628907075.467 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:11:15.470Z,1628907075.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:11:15.865Z,1628907075.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:11:16.274Z,1628907076.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,00A40,189,80,80,89,FF
2021-08-14T02:11:16.274Z,1628907076.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:11:16.753Z,1628907076.753 [Micromodem](INFO): Nmea in: $SNTTA,0.088049,,,,021116.56*4B

2021-08-14T02:11:16.809Z,1628907076.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.940002 m, bearing: 34.415513 deg, deltaT: 4.058034 s, approachRate: 6.875251 m/s, LOS rate: 3.549619 deg/s, posRepo size: 4
2021-08-14T02:11:16.811Z,1628907076.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.940002 m,
      bearing: 34.415513 deg,
      approachRate: 6.875251 m/s,
      LOS rate: 3.549619 deg/s,
      cmd update: 10.648858 deg/s,
      cmd heading: 22.673342 deg,
      new cmd heading: 25.049736 deg.

2021-08-14T02:11:19.116Z,1628907079.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:19.497Z,1628907079.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:11:19.497Z,1628907079.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:11:19.497Z,1628907079.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:11:19.498Z,1628907079.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:11:19.894Z,1628907079.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,00A40,189,80,80,89,FF
2021-08-14T02:11:19.895Z,1628907079.895 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:11:19.895Z,1628907079.895 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:11:19.897Z,1628907079.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:11:20.323Z,1628907080.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:11:20.761Z,1628907080.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,00A75,186,80,80,90,FF
2021-08-14T02:11:20.761Z,1628907080.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:11:21.157Z,1628907081.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021120.99*5E

2021-08-14T02:11:21.186Z,1628907081.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.119995 m, bearing: 29.585340 deg, deltaT: 4.509654 s, approachRate: 0.705152 m/s, LOS rate: -1.071074 deg/s, posRepo size: 4
2021-08-14T02:11:21.189Z,1628907081.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.119995 m,
      bearing: 29.585340 deg,
      approachRate: 0.705152 m/s,
      LOS rate: -1.071074 deg/s,
      cmd update: -3.213222 deg/s,
      cmd heading: 70.672453 deg,
      new cmd heading: 74.462424 deg.

2021-08-14T02:11:23.559Z,1628907083.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:23.949Z,1628907083.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:11:23.949Z,1628907083.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:11:23.950Z,1628907083.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:11:23.950Z,1628907083.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:11:24.354Z,1628907084.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,00A75,186,80,80,90,FF
2021-08-14T02:11:24.354Z,1628907084.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:11:24.354Z,1628907084.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:11:24.355Z,1628907084.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:11:24.788Z,1628907084.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:11:25.157Z,1628907085.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,00A9A,186,80,80,4C,FF
2021-08-14T02:11:25.158Z,1628907085.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:11:25.589Z,1628907085.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021125.45*5A

2021-08-14T02:11:25.611Z,1628907085.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.340004 m, bearing: 57.165367 deg, deltaT: 4.411062 s, approachRate: 0.503282 m/s, LOS rate: 6.252469 deg/s, posRepo size: 4
2021-08-14T02:11:25.614Z,1628907085.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.340004 m,
      bearing: 57.165367 deg,
      approachRate: 0.503282 m/s,
      LOS rate: 6.252469 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 56.488719 deg,
      new cmd heading: 55.305081 deg.

2021-08-14T02:11:28.027Z,1628907088.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:28.401Z,1628907088.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:11:28.401Z,1628907088.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:11:28.402Z,1628907088.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:11:28.403Z,1628907088.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:11:28.801Z,1628907088.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,00A9A,186,80,80,4C,FF
2021-08-14T02:11:28.801Z,1628907088.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:11:28.801Z,1628907088.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:11:28.803Z,1628907088.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:11:29.222Z,1628907089.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:11:29.613Z,1628907089.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,00ABF,186,80,80,9A,FF
2021-08-14T02:11:29.613Z,1628907089.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:11:30.045Z,1628907090.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021129.90*5E

2021-08-14T02:11:30.115Z,1628907090.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.560005 m, bearing: 70.214515 deg, deltaT: 4.401700 s, approachRate: 0.504351 m/s, LOS rate: 2.964570 deg/s, posRepo size: 4
2021-08-14T02:11:30.123Z,1628907090.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.560005 m,
      bearing: 70.214515 deg,
      approachRate: 0.504351 m/s,
      LOS rate: 2.964570 deg/s,
      cmd update: 8.893711 deg/s,
      cmd heading: 109.450120 deg,
      new cmd heading: 114.953764 deg.

2021-08-14T02:11:32.479Z,1628907092.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:32.841Z,1628907092.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:11:32.841Z,1628907092.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:11:32.841Z,1628907092.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:11:32.842Z,1628907092.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:11:33.250Z,1628907093.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,00ABF,186,80,80,9A,FF
2021-08-14T02:11:33.250Z,1628907093.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:11:33.250Z,1628907093.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:11:33.252Z,1628907093.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:11:33.664Z,1628907093.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:11:34.069Z,1628907094.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B6,000,00AD1,186,80,80,9D,FF
2021-08-14T02:11:34.069Z,1628907094.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:11:34.498Z,1628907094.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021134.35*5D

2021-08-14T02:11:34.514Z,1628907094.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.640015 m, bearing: 49.901188 deg, deltaT: 4.457373 s, approachRate: 0.242297 m/s, LOS rate: -4.557242 deg/s, posRepo size: 4
2021-08-14T02:11:34.517Z,1628907094.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.640015 m,
      bearing: 49.901188 deg,
      approachRate: 0.242297 m/s,
      LOS rate: -4.557242 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 149.104551 deg,
      new cmd heading: 152.658149 deg.

2021-08-14T02:11:36.964Z,1628907096.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:37.289Z,1628907097.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:11:37.289Z,1628907097.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:11:37.289Z,1628907097.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:11:37.290Z,1628907097.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:11:37.704Z,1628907097.704 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B6,000,00AD1,186,80,80,9D,FF
2021-08-14T02:11:37.705Z,1628907097.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:11:37.705Z,1628907097.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:11:37.710Z,1628907097.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:11:38.092Z,1628907098.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:11:38.505Z,1628907098.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,00ADA,188,80,80,C1,FF
2021-08-14T02:11:38.506Z,1628907098.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:11:38.929Z,1628907098.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021138.81*5E

2021-08-14T02:11:38.982Z,1628907098.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.180008 m, bearing: 120.871904 deg, deltaT: 4.448758 s, approachRate: 0.121381 m/s, LOS rate: 15.952930 deg/s, posRepo size: 4
2021-08-14T02:11:38.983Z,1628907098.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.952930 deg/s. Setting heading cmd to target bearing of 120.871904deg and heading rate command to 0 deg/s.
2021-08-14T02:11:41.347Z,1628907101.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:41.745Z,1628907101.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:11:41.745Z,1628907101.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:11:41.745Z,1628907101.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:11:41.746Z,1628907101.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:11:42.133Z,1628907102.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCB,000,00ADA,188,80,80,C1,FF
2021-08-14T02:11:42.133Z,1628907102.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:11:42.133Z,1628907102.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:11:42.135Z,1628907102.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:11:42.550Z,1628907102.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:11:42.950Z,1628907102.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00AD2,189,80,80,C5,FF
2021-08-14T02:11:42.950Z,1628907102.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:11:43.381Z,1628907103.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021143.23*5A

2021-08-14T02:11:43.403Z,1628907103.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.699997 m, bearing: 175.092869 deg, deltaT: 4.407739 s, approachRate: -0.108902 m/s, LOS rate: 12.301310 deg/s, posRepo size: 4
2021-08-14T02:11:43.404Z,1628907103.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.301310 deg/s. Setting heading cmd to target bearing of 175.092869deg and heading rate command to 0 deg/s.
2021-08-14T02:11:44.972Z,1628907104.972 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:11:45.817Z,1628907105.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:46.177Z,1628907106.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:11:46.177Z,1628907106.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:11:46.177Z,1628907106.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:11:46.178Z,1628907106.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:11:46.581Z,1628907106.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00AD2,189,80,80,C5,FF
2021-08-14T02:11:46.581Z,1628907106.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:11:46.581Z,1628907106.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:11:46.583Z,1628907106.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:11:46.988Z,1628907106.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:11:47.389Z,1628907107.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C11,000,00ABE,189,80,80,C7,FF
2021-08-14T02:11:47.390Z,1628907107.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:11:47.829Z,1628907107.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021147.68*51

2021-08-14T02:11:47.877Z,1628907107.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.500000 m, bearing: 178.788753 deg, deltaT: 4.434275 s, approachRate: -0.270619 m/s, LOS rate: 0.833481 deg/s, posRepo size: 4
2021-08-14T02:11:47.879Z,1628907107.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.500000 m,
      bearing: 178.788753 deg,
      approachRate: -0.270619 m/s,
      LOS rate: 0.833481 deg/s,
      cmd update: 2.500443 deg/s,
      cmd heading: 175.092869 deg,
      new cmd heading: 175.092869 deg.

2021-08-14T02:11:50.239Z,1628907110.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:50.620Z,1628907110.620 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:11:50.620Z,1628907110.620 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:11:50.621Z,1628907110.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:11:50.623Z,1628907110.623 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:11:51.029Z,1628907111.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C11,000,00ABE,189,80,80,C7,FF
2021-08-14T02:11:51.029Z,1628907111.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:11:51.029Z,1628907111.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:11:51.031Z,1628907111.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:11:51.435Z,1628907111.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:11:51.833Z,1628907111.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2C,000,00AA4,189,80,80,9B,FF
2021-08-14T02:11:51.834Z,1628907111.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:11:52.277Z,1628907112.277 [Micromodem](INFO): Nmea in: $SNTTA,0.099310,,,,021152.13*45

2021-08-14T02:11:52.300Z,1628907112.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.940002 m, bearing: 184.634425 deg, deltaT: 4.500236 s, approachRate: -0.346648 m/s, LOS rate: 1.298970 deg/s, posRepo size: 4
2021-08-14T02:11:52.303Z,1628907112.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.940002 m,
      bearing: 184.634425 deg,
      approachRate: -0.346648 m/s,
      LOS rate: 1.298970 deg/s,
      cmd update: 3.896910 deg/s,
      cmd heading: 186.345417 deg,
      new cmd heading: 187.328389 deg.

2021-08-14T02:11:54.787Z,1628907114.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:55.061Z,1628907115.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:11:55.061Z,1628907115.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:11:55.061Z,1628907115.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:11:55.062Z,1628907115.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:11:55.473Z,1628907115.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2C,000,00AA4,189,80,80,9B,FF
2021-08-14T02:11:55.473Z,1628907115.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:11:55.473Z,1628907115.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:11:55.475Z,1628907115.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:11:55.881Z,1628907115.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:11:56.281Z,1628907116.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,00A7C,187,80,80,AA,FF
2021-08-14T02:11:56.282Z,1628907116.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:11:56.737Z,1628907116.737 [Micromodem](INFO): Nmea in: $SNTTA,0.089448,,,,021156.57*4A

2021-08-14T02:11:56.810Z,1628907116.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.540001 m, bearing: 185.542362 deg, deltaT: 4.396125 s, approachRate: -0.545936 m/s, LOS rate: 0.206531 deg/s, posRepo size: 4
2021-08-14T02:11:56.818Z,1628907116.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.540001 m,
      bearing: 185.542362 deg,
      approachRate: -0.545936 m/s,
      LOS rate: 0.206531 deg/s,
      cmd update: 0.619594 deg/s,
      cmd heading: 203.464614 deg,
      new cmd heading: 205.455955 deg.

2021-08-14T02:11:58.819Z,1628907118.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:11:59.101Z,1628907119.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:11:59.101Z,1628907119.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:11:59.101Z,1628907119.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:11:59.102Z,1628907119.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:11:59.515Z,1628907119.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,00A7C,187,80,80,AA,FF
2021-08-14T02:11:59.515Z,1628907119.515 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:11:59.515Z,1628907119.515 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:11:59.517Z,1628907119.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:11:59.916Z,1628907119.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:12:00.326Z,1628907120.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,00A56,184,80,80,BD,FF
2021-08-14T02:12:00.326Z,1628907120.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:12:00.778Z,1628907120.778 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021200.61*58

2021-08-14T02:12:00.857Z,1628907120.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.260002 m, bearing: 183.288973 deg, deltaT: 4.068832 s, approachRate: -0.560357 m/s, LOS rate: -0.553817 deg/s, posRepo size: 4
2021-08-14T02:12:00.859Z,1628907120.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.260002 m,
      bearing: 183.288973 deg,
      approachRate: -0.560357 m/s,
      LOS rate: -0.553817 deg/s,
      cmd update: -1.661451 deg/s,
      cmd heading: 205.972641 deg,
      new cmd heading: 206.286026 deg.

2021-08-14T02:12:03.197Z,1628907123.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:12:03.553Z,1628907123.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:12:03.553Z,1628907123.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:12:03.554Z,1628907123.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:12:03.554Z,1628907123.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:12:03.949Z,1628907123.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,00A56,184,80,80,BD,FF
2021-08-14T02:12:03.949Z,1628907123.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:12:03.949Z,1628907123.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:12:03.951Z,1628907123.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:12:04.374Z,1628907124.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:12:04.777Z,1628907124.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,00A2A,187,80,80,8A,FF
2021-08-14T02:12:04.777Z,1628907124.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:12:05.189Z,1628907125.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021205.05*5F

2021-08-14T02:12:05.235Z,1628907125.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.620003 m, bearing: 179.936457 deg, deltaT: 4.488992 s, approachRate: -0.588105 m/s, LOS rate: -0.746831 deg/s, posRepo size: 4
2021-08-14T02:12:05.237Z,1628907125.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.620003 m,
      bearing: 179.936457 deg,
      approachRate: -0.588105 m/s,
      LOS rate: -0.746831 deg/s,
      cmd update: -2.240492 deg/s,
      cmd heading: 198.475178 deg,
      new cmd heading: 197.851769 deg.

2021-08-14T02:12:07.623Z,1628907127.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:12:07.989Z,1628907127.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:12:07.989Z,1628907127.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:12:07.989Z,1628907127.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:12:07.990Z,1628907127.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:12:08.393Z,1628907128.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
212,000,00A2A,187,80,80,8A,FF
2021-08-14T02:12:08.393Z,1628907128.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:12:08.393Z,1628907128.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:12:08.395Z,1628907128.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:12:08.814Z,1628907128.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:12:09.207Z,1628907129.207 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26A,000,00A00,188,80,80,6E,FF
2021-08-14T02:12:09.208Z,1628907129.208 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:12:09.646Z,1628907129.646 [Micromodem](INFO): Nmea in: $SNTTA,0.101858,,,,021209.49*40

2021-08-14T02:12:09.663Z,1628907129.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.099998 m, bearing: 177.406896 deg, deltaT: 4.389633 s, approachRate: -0.574081 m/s, LOS rate: -0.576258 deg/s, posRepo size: 4
2021-08-14T02:12:09.666Z,1628907129.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.099998 m,
      bearing: 177.406896 deg,
      approachRate: -0.574081 m/s,
      LOS rate: -0.576258 deg/s,
      cmd update: -1.728774 deg/s,
      cmd heading: 188.642238 deg,
      new cmd heading: 187.711999 deg.

2021-08-14T02:12:12.082Z,1628907132.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:12:12.448Z,1628907132.448 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:12:12.448Z,1628907132.448 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:12:12.449Z,1628907132.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:12:12.450Z,1628907132.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:12:12.845Z,1628907132.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26A,000,00A00,188,80,80,6E,FF
2021-08-14T02:12:12.845Z,1628907132.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:12:12.845Z,1628907132.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:12:12.847Z,1628907132.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:12:13.260Z,1628907133.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:12:13.653Z,1628907133.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,116,000,009D8,186,80,80,7C,FF
2021-08-14T02:12:13.654Z,1628907133.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:12:14.094Z,1628907134.094 [Micromodem](INFO): Nmea in: $SNTTA,0.078493,,,,021213.94*4F

2021-08-14T02:12:14.119Z,1628907134.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.700005 m, bearing: 180.341993 deg, deltaT: 4.489491 s, approachRate: -0.534580 m/s, LOS rate: 0.653770 deg/s, posRepo size: 4
2021-08-14T02:12:14.121Z,1628907134.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.700005 m,
      bearing: 180.341993 deg,
      approachRate: -0.534580 m/s,
      LOS rate: 0.653770 deg/s,
      cmd update: 1.961311 deg/s,
      cmd heading: 180.897797 deg,
      new cmd heading: 180.221646 deg.

2021-08-14T02:12:16.495Z,1628907136.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:12:16.890Z,1628907136.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:12:16.890Z,1628907136.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:12:16.890Z,1628907136.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:12:16.891Z,1628907136.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:12:17.281Z,1628907137.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
116,000,009D8,186,80,80,7C,FF
2021-08-14T02:12:17.281Z,1628907137.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:12:17.282Z,1628907137.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:12:17.283Z,1628907137.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:12:17.729Z,1628907137.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:12:18.093Z,1628907138.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,009A5,186,80,80,69,FF
2021-08-14T02:12:18.093Z,1628907138.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:12:18.529Z,1628907138.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021218.38*5D

2021-08-14T02:12:18.560Z,1628907138.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.640007 m, bearing: 180.686029 deg, deltaT: 4.391327 s, approachRate: -0.696828 m/s, LOS rate: 0.078345 deg/s, posRepo size: 4
2021-08-14T02:12:18.562Z,1628907138.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.640007 m,
      bearing: 180.686029 deg,
      approachRate: -0.696828 m/s,
      LOS rate: 0.078345 deg/s,
      cmd update: 0.235034 deg/s,
      cmd heading: 189.493056 deg,
      new cmd heading: 190.374853 deg.

2021-08-14T02:12:20.998Z,1628907140.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:12:21.337Z,1628907141.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:12:21.337Z,1628907141.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:12:21.337Z,1628907141.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:12:21.338Z,1628907141.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:12:21.757Z,1628907141.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,009A5,186,80,80,69,FF
2021-08-14T02:12:21.757Z,1628907141.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:12:21.757Z,1628907141.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:12:21.759Z,1628907141.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:12:22.148Z,1628907142.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:12:22.541Z,1628907142.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10C,000,00975,185,80,80,A2,FF
2021-08-14T02:12:22.541Z,1628907142.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:12:22.971Z,1628907142.971 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021222.86*51

2021-08-14T02:12:23.038Z,1628907143.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.760002 m, bearing: 180.405022 deg, deltaT: 4.427757 s, approachRate: -0.650443 m/s, LOS rate: -0.063465 deg/s, posRepo size: 4
2021-08-14T02:12:23.045Z,1628907143.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.760002 m,
      bearing: 180.405022 deg,
      approachRate: -0.650443 m/s,
      LOS rate: -0.063465 deg/s,
      cmd update: -0.190395 deg/s,
      cmd heading: 190.538393 deg,
      new cmd heading: 190.651309 deg.

2021-08-14T02:12:25.406Z,1628907145.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:12:25.785Z,1628907145.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:12:25.785Z,1628907145.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:12:25.785Z,1628907145.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:12:25.786Z,1628907145.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:12:26.193Z,1628907146.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,00975,185,80,80,A2,FF
2021-08-14T02:12:26.193Z,1628907146.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:12:26.193Z,1628907146.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:12:26.195Z,1628907146.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:12:26.588Z,1628907146.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:12:26.997Z,1628907146.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,133,000,00947,186,80,80,9F,FF
2021-08-14T02:12:26.998Z,1628907146.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:12:27.421Z,1628907147.421 [Micromodem](INFO): Nmea in: $SNTTA,0.069877,,,,021227.29*48

2021-08-14T02:12:27.443Z,1628907147.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.000000 m, bearing: 179.985429 deg, deltaT: 4.552447 s, approachRate: -0.606268 m/s, LOS rate: -0.092168 deg/s, posRepo size: 4
2021-08-14T02:12:27.446Z,1628907147.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.000000 m,
      bearing: 179.985429 deg,
      approachRate: -0.606268 m/s,
      LOS rate: -0.092168 deg/s,
      cmd update: -0.276505 deg/s,
      cmd heading: 189.671591 deg,
      new cmd heading: 189.608229 deg.

2021-08-14T02:12:29.853Z,1628907149.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:12:30.225Z,1628907150.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:12:30.225Z,1628907150.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:12:30.225Z,1628907150.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:12:30.226Z,1628907150.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:12:30.636Z,1628907150.636 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
133,000,00947,186,80,80,9F,FF
2021-08-14T02:12:30.637Z,1628907150.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:12:30.637Z,1628907150.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:12:30.643Z,1628907150.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:12:31.053Z,1628907151.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:12:31.433Z,1628907151.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,00915,185,80,80,9D,FF
2021-08-14T02:12:31.433Z,1628907151.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:12:31.873Z,1628907151.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021231.74*5E

2021-08-14T02:12:31.919Z,1628907151.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.000008 m, bearing: 180.415540 deg, deltaT: 4.340220 s, approachRate: -0.691207 m/s, LOS rate: 0.099099 deg/s, posRepo size: 4
2021-08-14T02:12:31.925Z,1628907151.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.000008 m,
      bearing: 180.415540 deg,
      approachRate: -0.691207 m/s,
      LOS rate: 0.099099 deg/s,
      cmd update: 0.297296 deg/s,
      cmd heading: 188.471533 deg,
      new cmd heading: 188.342105 deg.

2021-08-14T02:12:34.298Z,1628907154.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:12:34.700Z,1628907154.700 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:12:34.700Z,1628907154.700 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:12:34.701Z,1628907154.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:12:34.702Z,1628907154.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:12:35.065Z,1628907155.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,00915,185,80,80,9D,FF
2021-08-14T02:12:35.066Z,1628907155.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:12:35.066Z,1628907155.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:12:35.074Z,1628907155.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:12:35.468Z,1628907155.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:12:35.877Z,1628907155.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,134,000,008E6,186,80,80,8F,FF
2021-08-14T02:12:35.878Z,1628907155.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:12:36.310Z,1628907156.310 [Micromodem](INFO): Nmea in: $SNTTA,0.087307,,,,021236.17*49

2021-08-14T02:12:36.351Z,1628907156.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.180000 m, bearing: 180.308224 deg, deltaT: 4.496877 s, approachRate: -0.627104 m/s, LOS rate: -0.023865 deg/s, posRepo size: 4
2021-08-14T02:12:36.353Z,1628907156.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.180000 m,
      bearing: 180.308224 deg,
      approachRate: -0.627104 m/s,
      LOS rate: -0.023865 deg/s,
      cmd update: -0.071594 deg/s,
      cmd heading: 189.807277 deg,
      new cmd heading: 189.928252 deg.

2021-08-14T02:12:38.805Z,1628907158.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:12:39.106Z,1628907159.106 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:12:39.106Z,1628907159.106 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:12:39.106Z,1628907159.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:12:39.107Z,1628907159.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:12:39.514Z,1628907159.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
134,000,008E6,186,80,80,8F,FF
2021-08-14T02:12:39.515Z,1628907159.515 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:12:39.515Z,1628907159.515 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:12:39.516Z,1628907159.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:12:39.922Z,1628907159.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:12:40.318Z,1628907160.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12D,000,008B9,185,80,80,A2,FF
2021-08-14T02:12:40.318Z,1628907160.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:12:40.789Z,1628907160.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021240.61*5C

2021-08-14T02:12:40.853Z,1628907160.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.479996 m, bearing: 180.007136 deg, deltaT: 4.419196 s, approachRate: -0.610972 m/s, LOS rate: -0.068132 deg/s, posRepo size: 4
2021-08-14T02:12:40.854Z,1628907160.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.479996 m,
      bearing: 180.007136 deg,
      approachRate: -0.610972 m/s,
      LOS rate: -0.068132 deg/s,
      cmd update: -0.204396 deg/s,
      cmd heading: 189.492382 deg,
      new cmd heading: 189.455850 deg.

2021-08-14T02:12:43.214Z,1628907163.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:12:43.557Z,1628907163.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:12:43.557Z,1628907163.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:12:43.557Z,1628907163.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:12:43.558Z,1628907163.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:12:43.966Z,1628907163.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12D,000,008B9,185,80,80,A2,FF
2021-08-14T02:12:43.966Z,1628907163.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:12:43.966Z,1628907163.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:12:43.969Z,1628907163.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:12:44.378Z,1628907164.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:12:44.773Z,1628907164.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,125,000,0088E,185,80,80,B7,FF
2021-08-14T02:12:44.774Z,1628907164.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:12:45.185Z,1628907165.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021245.06*58

2021-08-14T02:12:45.227Z,1628907165.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.900002 m, bearing: 180.151908 deg, deltaT: 4.502241 s, approachRate: -0.573047 m/s, LOS rate: 0.032156 deg/s, posRepo size: 4
2021-08-14T02:12:45.234Z,1628907165.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.900002 m,
      bearing: 180.151908 deg,
      approachRate: -0.573047 m/s,
      LOS rate: 0.032156 deg/s,
      cmd update: 0.096467 deg/s,
      cmd heading: 188.567119 deg,
      new cmd heading: 188.493842 deg.

2021-08-14T02:12:47.603Z,1628907167.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:12:48.001Z,1628907168.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:12:48.001Z,1628907168.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:12:48.001Z,1628907168.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:12:48.002Z,1628907168.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:12:48.401Z,1628907168.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
125,000,0088E,185,80,80,B7,FF
2021-08-14T02:12:48.401Z,1628907168.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:12:48.401Z,1628907168.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:12:48.403Z,1628907168.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:12:48.817Z,1628907168.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:12:49.209Z,1628907169.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,00857,186,80,80,59,FF
2021-08-14T02:12:49.210Z,1628907169.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:12:49.653Z,1628907169.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021249.50*57

2021-08-14T02:12:49.738Z,1628907169.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.600006 m, bearing: 179.393771 deg, deltaT: 4.384978 s, approachRate: -0.752568 m/s, LOS rate: -0.172894 deg/s, posRepo size: 4
2021-08-14T02:12:49.744Z,1628907169.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.600006 m,
      bearing: 179.393771 deg,
      approachRate: -0.752568 m/s,
      LOS rate: -0.172894 deg/s,
      cmd update: -0.518683 deg/s,
      cmd heading: 188.990154 deg,
      new cmd heading: 189.036802 deg.

2021-08-14T02:12:52.069Z,1628907172.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:12:52.429Z,1628907172.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:12:52.429Z,1628907172.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:12:52.430Z,1628907172.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:12:52.431Z,1628907172.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:12:52.843Z,1628907172.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,00857,186,80,80,59,FF
2021-08-14T02:12:52.843Z,1628907172.843 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:12:52.843Z,1628907172.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:12:52.845Z,1628907172.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:12:53.277Z,1628907173.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:12:53.654Z,1628907173.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11E,000,00824,185,80,80,D8,FF
2021-08-14T02:12:53.654Z,1628907173.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:12:54.089Z,1628907174.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021253.94*54

2021-08-14T02:12:54.132Z,1628907174.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.540001 m, bearing: 179.703397 deg, deltaT: 4.416413 s, approachRate: -0.692871 m/s, LOS rate: 0.070108 deg/s, posRepo size: 4
2021-08-14T02:12:54.134Z,1628907174.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.540001 m,
      bearing: 179.703397 deg,
      approachRate: -0.692871 m/s,
      LOS rate: 0.070108 deg/s,
      cmd update: 0.210324 deg/s,
      cmd heading: 186.699438 deg,
      new cmd heading: 186.460045 deg.

2021-08-14T02:12:56.495Z,1628907176.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:12:56.883Z,1628907176.883 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:12:56.883Z,1628907176.883 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:12:56.883Z,1628907176.883 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:12:56.884Z,1628907176.884 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:12:57.281Z,1628907177.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11E,000,00824,185,80,80,D8,FF
2021-08-14T02:12:57.281Z,1628907177.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:12:57.281Z,1628907177.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:12:57.283Z,1628907177.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:12:57.691Z,1628907177.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:12:58.089Z,1628907178.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FD,000,007F7,186,80,80,A4,FF
2021-08-14T02:12:58.089Z,1628907178.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:12:58.533Z,1628907178.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021258.38*59

2021-08-14T02:12:58.555Z,1628907178.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.840004 m, bearing: 180.210020 deg, deltaT: 4.451448 s, approachRate: -0.606544 m/s, LOS rate: 0.113811 deg/s, posRepo size: 4
2021-08-14T02:12:58.558Z,1628907178.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.840004 m,
      bearing: 180.210020 deg,
      approachRate: -0.606544 m/s,
      LOS rate: 0.113811 deg/s,
      cmd update: 0.341432 deg/s,
      cmd heading: 187.635680 deg,
      new cmd heading: 187.726859 deg.

2021-08-14T02:13:00.997Z,1628907180.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:01.322Z,1628907181.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:13:01.322Z,1628907181.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:13:01.322Z,1628907181.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:13:01.323Z,1628907181.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:13:01.745Z,1628907181.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FD,000,007F7,186,80,80,A4,FF
2021-08-14T02:13:01.745Z,1628907181.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:13:01.745Z,1628907181.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:13:01.747Z,1628907181.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:13:02.141Z,1628907182.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:13:02.537Z,1628907182.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11B,000,007C9,186,80,80,9A,FF
2021-08-14T02:13:02.537Z,1628907182.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:13:03.016Z,1628907183.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.080002 m, bearing: 179.001991 deg, deltaT: 4.432251 s, approachRate: -0.622709 m/s, LOS rate: -0.272554 deg/s, posRepo size: 4
2021-08-14T02:13:03.018Z,1628907183.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.080002 m,
      bearing: 179.001991 deg,
      approachRate: -0.622709 m/s,
      LOS rate: -0.272554 deg/s,
      cmd update: -0.817662 deg/s,
      cmd heading: 189.148984 deg,
      new cmd heading: 189.306627 deg.

2021-08-14T02:13:05.402Z,1628907185.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:05.777Z,1628907185.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:13:05.777Z,1628907185.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:13:05.777Z,1628907185.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:13:05.778Z,1628907185.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:13:06.175Z,1628907186.175 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11B,000,007C9,186,80,80,9A,FF
2021-08-14T02:13:06.176Z,1628907186.176 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:13:06.176Z,1628907186.176 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:13:06.178Z,1628907186.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:13:06.576Z,1628907186.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:13:07.406Z,1628907187.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021307.28*53

2021-08-14T02:13:08.237Z,1628907188.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:09.817Z,1628907189.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,9A,FF
2021-08-14T02:13:09.817Z,1628907189.817 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,9A,FF
2021-08-14T02:13:09.817Z,1628907189.817 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:13:10.803Z,1628907190.803 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:13:10.835Z,1628907190.835 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:13:10.850Z,1628907190.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:11.025Z,1628907191.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:13:11.025Z,1628907191.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:13:11.025Z,1628907191.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:13:11.026Z,1628907191.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:13:11.413Z,1628907191.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,9A,FF
2021-08-14T02:13:11.413Z,1628907191.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:13:11.414Z,1628907191.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:13:11.415Z,1628907191.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:13:11.825Z,1628907191.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:13:12.677Z,1628907192.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021312.51*59

2021-08-14T02:13:13.459Z,1628907193.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:15.053Z,1628907195.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,9A,FF
2021-08-14T02:13:15.054Z,1628907195.054 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,9A,FF
2021-08-14T02:13:15.054Z,1628907195.054 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:13:16.283Z,1628907196.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:16.732Z,1628907196.732 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:13:16.733Z,1628907196.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:13:16.734Z,1628907196.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:13:16.735Z,1628907196.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:13:17.082Z,1628907197.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,9A,FF
2021-08-14T02:13:17.082Z,1628907197.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:13:17.082Z,1628907197.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:13:17.084Z,1628907197.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:13:17.485Z,1628907197.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:13:17.881Z,1628907197.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,00728,184,80,80,9E,FF
2021-08-14T02:13:17.881Z,1628907197.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:13:18.334Z,1628907198.334 [Micromodem](INFO): Nmea in: $SNTTA,0.052049,,,,021318.18*4A

2021-08-14T02:13:18.379Z,1628907198.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.419998 m, bearing: 180.866455 deg, deltaT: 15.398612 s, approachRate: -0.627330 m/s, LOS rate: 0.121080 deg/s, posRepo size: 4
2021-08-14T02:13:18.381Z,1628907198.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.419998 m,
      bearing: 180.866455 deg,
      approachRate: -0.627330 m/s,
      LOS rate: 0.121080 deg/s,
      cmd update: 0.363240 deg/s,
      cmd heading: 176.564804 deg,
      new cmd heading: 176.209981 deg.

2021-08-14T02:13:20.791Z,1628907200.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:21.122Z,1628907201.122 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:13:21.122Z,1628907201.122 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:13:21.122Z,1628907201.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:13:21.123Z,1628907201.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:13:21.520Z,1628907201.520 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,00728,184,80,80,9E,FF
2021-08-14T02:13:21.520Z,1628907201.520 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:13:21.520Z,1628907201.520 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:13:21.522Z,1628907201.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:13:21.929Z,1628907201.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:13:22.326Z,1628907202.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,006F9,184,80,80,93,FF
2021-08-14T02:13:22.326Z,1628907202.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:13:22.786Z,1628907202.786 [Micromodem](INFO): Nmea in: $SNTTA,0.121932,,,,021322.62*4E

2021-08-14T02:13:22.831Z,1628907202.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.600006 m, bearing: 180.416018 deg, deltaT: 4.414502 s, approachRate: -0.638802 m/s, LOS rate: -0.102036 deg/s, posRepo size: 4
2021-08-14T02:13:22.853Z,1628907202.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.600006 m,
      bearing: 180.416018 deg,
      approachRate: -0.638802 m/s,
      LOS rate: -0.102036 deg/s,
      cmd update: -0.306107 deg/s,
      cmd heading: 178.171028 deg,
      new cmd heading: 178.339705 deg.

2021-08-14T02:13:25.175Z,1628907205.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:25.566Z,1628907205.566 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:13:25.567Z,1628907205.567 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:13:25.567Z,1628907205.567 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:13:25.568Z,1628907205.568 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:13:25.969Z,1628907205.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,006F9,184,80,80,93,FF
2021-08-14T02:13:25.969Z,1628907205.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:13:25.970Z,1628907205.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:13:25.971Z,1628907205.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:13:26.369Z,1628907206.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:13:26.777Z,1628907206.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,006C8,183,80,80,68,FF
2021-08-14T02:13:26.778Z,1628907206.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:13:27.205Z,1628907207.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021327.09*52

2021-08-14T02:13:27.231Z,1628907207.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.660004 m, bearing: 181.559310 deg, deltaT: 4.481104 s, approachRate: -0.656089 m/s, LOS rate: 0.255136 deg/s, posRepo size: 4
2021-08-14T02:13:27.253Z,1628907207.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.660004 m,
      bearing: 181.559310 deg,
      approachRate: -0.656089 m/s,
      LOS rate: 0.255136 deg/s,
      cmd update: 0.765409 deg/s,
      cmd heading: 176.799088 deg,
      new cmd heading: 176.681921 deg.

2021-08-14T02:13:29.619Z,1628907209.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:29.997Z,1628907209.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:13:29.997Z,1628907209.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:13:29.997Z,1628907209.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:13:29.998Z,1628907209.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:13:30.415Z,1628907210.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,006C8,183,80,80,68,FF
2021-08-14T02:13:30.415Z,1628907210.415 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:13:30.415Z,1628907210.415 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:13:30.417Z,1628907210.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:13:30.812Z,1628907210.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:13:31.213Z,1628907211.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE1,000,0069B,185,80,80,B3,FF
2021-08-14T02:13:31.214Z,1628907211.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:13:31.649Z,1628907211.649 [Micromodem](INFO): Nmea in: $SNTTA,0.048741,,,,021331.52*4B

2021-08-14T02:13:31.719Z,1628907211.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.959999 m, bearing: 182.815218 deg, deltaT: 4.503271 s, approachRate: -0.599565 m/s, LOS rate: 0.278888 deg/s, posRepo size: 4
2021-08-14T02:13:31.740Z,1628907211.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.959999 m,
      bearing: 182.815218 deg,
      approachRate: -0.599565 m/s,
      LOS rate: 0.278888 deg/s,
      cmd update: 0.836664 deg/s,
      cmd heading: 180.245550 deg,
      new cmd heading: 180.523118 deg.

2021-08-14T02:13:32.241Z,1628907212.241 [CTD_Seabird](ERROR): Failed to parse device response: .63
2021-08-14T02:13:34.107Z,1628907214.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:34.449Z,1628907214.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:13:34.449Z,1628907214.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:13:34.450Z,1628907214.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:13:34.451Z,1628907214.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:13:34.857Z,1628907214.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE1,000,0069B,185,80,80,B3,FF
2021-08-14T02:13:34.857Z,1628907214.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:13:34.858Z,1628907214.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:13:34.859Z,1628907214.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:13:35.261Z,1628907215.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:13:35.670Z,1628907215.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,0066E,183,80,80,91,FF
2021-08-14T02:13:35.671Z,1628907215.671 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:13:36.097Z,1628907216.097 [Micromodem](INFO): Nmea in: $SNTTA,0.044603,,,,021335.96*4C

2021-08-14T02:13:36.131Z,1628907216.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.259998 m, bearing: 183.738933 deg, deltaT: 4.455161 s, approachRate: -0.606039 m/s, LOS rate: 0.207336 deg/s, posRepo size: 4
2021-08-14T02:13:36.134Z,1628907216.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.259998 m,
      bearing: 183.738933 deg,
      approachRate: -0.606039 m/s,
      LOS rate: 0.207336 deg/s,
      cmd update: 0.622008 deg/s,
      cmd heading: 183.973429 deg,
      new cmd heading: 184.244991 deg.

2021-08-14T02:13:38.507Z,1628907218.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:38.901Z,1628907218.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:13:38.901Z,1628907218.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:13:38.901Z,1628907218.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:13:38.902Z,1628907218.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:13:39.314Z,1628907219.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,0066E,183,80,80,91,FF
2021-08-14T02:13:39.314Z,1628907219.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:13:39.314Z,1628907219.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:13:39.321Z,1628907219.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:13:39.753Z,1628907219.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:13:40.111Z,1628907220.111 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,0063C,186,80,80,9F,FF
2021-08-14T02:13:40.111Z,1628907220.111 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:13:40.522Z,1628907220.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021340.42*5C

2021-08-14T02:13:40.555Z,1628907220.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 183.041625 deg, deltaT: 4.320584 s, approachRate: -0.694349 m/s, LOS rate: -0.161392 deg/s, posRepo size: 4
2021-08-14T02:13:40.558Z,1628907220.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.260006 m,
      bearing: 183.041625 deg,
      approachRate: -0.694349 m/s,
      LOS rate: -0.161392 deg/s,
      cmd update: -0.484176 deg/s,
      cmd heading: 186.660805 deg,
      new cmd heading: 186.927106 deg.

2021-08-14T02:13:42.966Z,1628907222.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:43.353Z,1628907223.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:13:43.354Z,1628907223.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:13:43.354Z,1628907223.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:13:43.355Z,1628907223.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:13:43.773Z,1628907223.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,0063C,186,80,80,9F,FF
2021-08-14T02:13:43.773Z,1628907223.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:13:43.773Z,1628907223.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:13:43.775Z,1628907223.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:13:44.153Z,1628907224.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:13:44.557Z,1628907224.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,0060D,186,80,80,AF,FF
2021-08-14T02:13:44.557Z,1628907224.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:13:44.978Z,1628907224.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021344.87*51

2021-08-14T02:13:45.015Z,1628907225.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.439999 m, bearing: 181.955174 deg, deltaT: 4.472511 s, approachRate: -0.630520 m/s, LOS rate: -0.242917 deg/s, posRepo size: 4
2021-08-14T02:13:45.033Z,1628907225.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.439999 m,
      bearing: 181.955174 deg,
      approachRate: -0.630520 m/s,
      LOS rate: -0.242917 deg/s,
      cmd update: -0.728752 deg/s,
      cmd heading: 184.497378 deg,
      new cmd heading: 184.294259 deg.

2021-08-14T02:13:47.400Z,1628907227.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:47.789Z,1628907227.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:13:47.789Z,1628907227.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:13:47.789Z,1628907227.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:13:47.790Z,1628907227.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:13:48.193Z,1628907228.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,0060D,186,80,80,AF,FF
2021-08-14T02:13:48.193Z,1628907228.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:13:48.193Z,1628907228.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:13:48.195Z,1628907228.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:13:48.597Z,1628907228.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:13:49.001Z,1628907229.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,005E2,186,80,80,65,FF
2021-08-14T02:13:49.002Z,1628907229.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:13:49.457Z,1628907229.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021349.30*50

2021-08-14T02:13:49.483Z,1628907229.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.860004 m, bearing: 182.927001 deg, deltaT: 4.429185 s, approachRate: -0.582499 m/s, LOS rate: 0.219414 deg/s, posRepo size: 4
2021-08-14T02:13:49.487Z,1628907229.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.860004 m,
      bearing: 182.927001 deg,
      approachRate: -0.582499 m/s,
      LOS rate: 0.219414 deg/s,
      cmd update: 0.658243 deg/s,
      cmd heading: 181.266610 deg,
      new cmd heading: 180.938014 deg.

2021-08-14T02:13:51.894Z,1628907231.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:52.241Z,1628907232.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:13:52.241Z,1628907232.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:13:52.241Z,1628907232.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:13:52.242Z,1628907232.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:13:52.637Z,1628907232.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,005E2,186,80,80,65,FF
2021-08-14T02:13:52.638Z,1628907232.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:13:52.638Z,1628907232.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:13:52.640Z,1628907232.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:13:53.048Z,1628907233.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:13:53.433Z,1628907233.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,005AE,186,80,80,A2,FF
2021-08-14T02:13:53.434Z,1628907233.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:13:53.881Z,1628907233.881 [Micromodem](INFO): Nmea in: $SNTTA,0.050709,,,,021353.74*4E

2021-08-14T02:13:53.957Z,1628907233.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.740002 m, bearing: 182.708872 deg, deltaT: 4.421284 s, approachRate: -0.705678 m/s, LOS rate: -0.049336 deg/s, posRepo size: 4
2021-08-14T02:13:53.959Z,1628907233.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.740002 m,
      bearing: 182.708872 deg,
      approachRate: -0.705678 m/s,
      LOS rate: -0.049336 deg/s,
      cmd update: -0.148008 deg/s,
      cmd heading: 184.177061 deg,
      new cmd heading: 184.499867 deg.

2021-08-14T02:13:56.294Z,1628907236.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:13:56.669Z,1628907236.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:13:56.669Z,1628907236.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:13:56.669Z,1628907236.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:13:56.670Z,1628907236.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:13:57.096Z,1628907237.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,005AE,186,80,80,A2,FF
2021-08-14T02:13:57.096Z,1628907237.096 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:13:57.097Z,1628907237.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:13:57.098Z,1628907237.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:13:57.488Z,1628907237.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:13:57.893Z,1628907237.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00581,185,80,80,69,FF
2021-08-14T02:13:57.893Z,1628907237.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:13:58.349Z,1628907238.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021358.20*51

2021-08-14T02:13:58.375Z,1628907238.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.040001 m, bearing: 185.595337 deg, deltaT: 4.523799 s, approachRate: -0.596844 m/s, LOS rate: 0.638062 deg/s, posRepo size: 4
2021-08-14T02:13:58.377Z,1628907238.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.040001 m,
      bearing: 185.595337 deg,
      approachRate: -0.596844 m/s,
      LOS rate: 0.638062 deg/s,
      cmd update: 1.914187 deg/s,
      cmd heading: 183.508094 deg,
      new cmd heading: 183.448165 deg.

2021-08-14T02:14:00.774Z,1628907240.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:14:01.137Z,1628907241.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:14:01.137Z,1628907241.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:14:01.138Z,1628907241.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:14:01.139Z,1628907241.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:14:01.513Z,1628907241.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00581,185,80,80,69,FF
2021-08-14T02:14:01.514Z,1628907241.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:14:01.514Z,1628907241.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:14:01.515Z,1628907241.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:14:01.944Z,1628907241.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:14:02.326Z,1628907242.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,0054D,186,80,80,AE,FF
2021-08-14T02:14:02.327Z,1628907242.327 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:14:02.785Z,1628907242.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021402.61*5C

2021-08-14T02:14:02.831Z,1628907242.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.920002 m, bearing: 184.696621 deg, deltaT: 4.397195 s, approachRate: -0.709543 m/s, LOS rate: -0.204384 deg/s, posRepo size: 4
2021-08-14T02:14:02.838Z,1628907242.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.920002 m,
      bearing: 184.696621 deg,
      approachRate: -0.709543 m/s,
      LOS rate: -0.204384 deg/s,
      cmd update: -0.613152 deg/s,
      cmd heading: 191.924875 deg,
      new cmd heading: 192.813107 deg.

2021-08-14T02:14:05.195Z,1628907245.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:14:05.557Z,1628907245.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:14:05.557Z,1628907245.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:14:05.557Z,1628907245.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:14:05.558Z,1628907245.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:14:05.965Z,1628907245.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,0054D,186,80,80,AE,FF
2021-08-14T02:14:05.966Z,1628907245.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:14:05.966Z,1628907245.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:14:05.969Z,1628907245.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:14:06.374Z,1628907246.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:14:06.789Z,1628907246.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F1,000,00522,186,80,80,73,FF
2021-08-14T02:14:06.790Z,1628907246.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:14:07.210Z,1628907247.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.340000 m, bearing: 182.841692 deg, deltaT: 4.480144 s, approachRate: -0.575875 m/s, LOS rate: -0.414033 deg/s, posRepo size: 4
2021-08-14T02:14:07.212Z,1628907247.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.340000 m,
      bearing: 182.841692 deg,
      approachRate: -0.575875 m/s,
      LOS rate: -0.414033 deg/s,
      cmd update: -1.242100 deg/s,
      cmd heading: 189.177791 deg,
      new cmd heading: 188.955399 deg.

2021-08-14T02:14:09.638Z,1628907249.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:14:10.005Z,1628907250.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:14:10.005Z,1628907250.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:14:10.006Z,1628907250.006 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:14:10.007Z,1628907250.007 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:14:10.405Z,1628907250.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F1,000,00522,186,80,80,73,FF
2021-08-14T02:14:10.405Z,1628907250.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:14:10.405Z,1628907250.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:14:10.407Z,1628907250.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:14:10.817Z,1628907250.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:14:11.218Z,1628907251.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E1,000,004F4,186,80,80,97,FF
2021-08-14T02:14:11.218Z,1628907251.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:14:11.221Z,1628907251.221 [Micromodem](INFO): Nmea in: $SNTTA,0.147122,0.038890,,,021411.51*54

2021-08-14T02:14:11.735Z,1628907251.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.579998 m, bearing: 181.886011 deg, deltaT: 4.385861 s, approachRate: -0.629295 m/s, LOS rate: -0.217900 deg/s, posRepo size: 4
2021-08-14T02:14:11.740Z,1628907251.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.58 m.
2021-08-14T02:14:11.742Z,1628907251.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.579998 m,
      bearing: 181.886011 deg,
      approachRate: -0.629295 m/s,
      LOS rate: -0.217900 deg/s,
      cmd update: -0.653701 deg/s,
      cmd heading: 183.725470 deg,
      new cmd heading: 183.107553 deg.

2021-08-14T02:14:12.103Z,1628907252.103 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:14:12.103Z,1628907252.103 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:14:12.104Z,1628907252.104 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:14:12.104Z,1628907252.104 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:14:12.105Z,1628907252.105 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:14:12.105Z,1628907252.105 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:14:12.503Z,1628907252.503 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:14:12.508Z,1628907252.508 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:14:12.509Z,1628907252.509 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:14:12.509Z,1628907252.509 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:14:13.780Z,1628907253.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:14:14.041Z,1628907254.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:14:14.041Z,1628907254.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:14:14.041Z,1628907254.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:14:14.042Z,1628907254.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:14:14.445Z,1628907254.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,004F4,186,80,80,97,FF
2021-08-14T02:14:14.445Z,1628907254.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:14:14.446Z,1628907254.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:14:14.447Z,1628907254.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:14:14.853Z,1628907254.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:14:15.254Z,1628907255.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,004C7,186,80,80,AD,FF
2021-08-14T02:14:15.254Z,1628907255.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:14:15.294Z,1628907255.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:14:15.735Z,1628907255.735 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021415.54*5C

2021-08-14T02:14:15.801Z,1628907255.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.880001 m, bearing: 183.925438 deg, deltaT: 4.053514 s, approachRate: -0.666088 m/s, LOS rate: 0.503126 deg/s, posRepo size: 4
2021-08-14T02:14:15.801Z,1628907255.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.88 m.
2021-08-14T02:14:15.803Z,1628907255.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.880001 m,
      bearing: 183.925438 deg,
      approachRate: -0.666088 m/s,
      LOS rate: 0.503126 deg/s,
      cmd update: 1.509377 deg/s,
      cmd heading: 181.088907 deg,
      new cmd heading: 180.742253 deg.

2021-08-14T02:14:18.099Z,1628907258.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:14:18.497Z,1628907258.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:14:18.497Z,1628907258.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:14:18.497Z,1628907258.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:14:18.498Z,1628907258.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:14:18.892Z,1628907258.892 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,004C7,186,80,80,AD,FF
2021-08-14T02:14:18.892Z,1628907258.892 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:14:18.892Z,1628907258.892 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:14:18.894Z,1628907258.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:14:19.311Z,1628907259.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:14:19.753Z,1628907259.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,0049E,184,80,80,81,FF
2021-08-14T02:14:19.754Z,1628907259.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:14:19.859Z,1628907259.859 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:14:20.137Z,1628907260.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021419.99*51

2021-08-14T02:14:20.159Z,1628907260.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.419998 m, bearing: 183.410400 deg, deltaT: 4.570028 s, approachRate: -0.538291 m/s, LOS rate: -0.112699 deg/s, posRepo size: 4
2021-08-14T02:14:20.160Z,1628907260.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.42 m.
2021-08-14T02:14:20.162Z,1628907260.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.419998 m,
      bearing: 183.410400 deg,
      approachRate: -0.538291 m/s,
      LOS rate: -0.112699 deg/s,
      cmd update: -0.338097 deg/s,
      cmd heading: 188.004386 deg,
      new cmd heading: 188.468279 deg.

2021-08-14T02:14:22.551Z,1628907262.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:14:22.934Z,1628907262.934 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:14:22.934Z,1628907262.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:14:22.934Z,1628907262.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:14:22.935Z,1628907262.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:14:23.349Z,1628907263.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,0049E,184,80,80,81,FF
2021-08-14T02:14:23.349Z,1628907263.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:14:23.349Z,1628907263.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:14:23.350Z,1628907263.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:14:23.783Z,1628907263.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:14:24.145Z,1628907264.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,00470,186,80,80,88,FF
2021-08-14T02:14:24.146Z,1628907264.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:14:24.170Z,1628907264.170 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:14:24.589Z,1628907264.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021424.45*5E

2021-08-14T02:14:24.608Z,1628907264.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.659998 m, bearing: 182.579153 deg, deltaT: 4.306790 s, approachRate: -0.640849 m/s, LOS rate: -0.193009 deg/s, posRepo size: 4
2021-08-14T02:14:24.608Z,1628907264.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.66 m.
2021-08-14T02:14:24.610Z,1628907264.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.659998 m,
      bearing: 182.579153 deg,
      approachRate: -0.640849 m/s,
      LOS rate: -0.193009 deg/s,
      cmd update: -0.579026 deg/s,
      cmd heading: 186.545453 deg,
      new cmd heading: 186.396561 deg.

2021-08-14T02:14:26.998Z,1628907266.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:14:27.385Z,1628907267.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:14:27.385Z,1628907267.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:14:27.385Z,1628907267.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:14:27.386Z,1628907267.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:14:27.782Z,1628907267.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,00470,186,80,80,88,FF
2021-08-14T02:14:27.782Z,1628907267.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:14:27.782Z,1628907267.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:14:27.784Z,1628907267.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:14:28.216Z,1628907268.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:14:28.617Z,1628907268.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,00444,186,80,80,93,FF
2021-08-14T02:14:28.617Z,1628907268.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:14:28.642Z,1628907268.642 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:14:29.053Z,1628907269.053 [Micromodem](INFO): Nmea in: $SNTTA,0.035965,,,,021428.88*41

2021-08-14T02:14:29.103Z,1628907269.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.020000 m, bearing: 184.800071 deg, deltaT: 4.471512 s, approachRate: -0.590404 m/s, LOS rate: 0.496682 deg/s, posRepo size: 4
2021-08-14T02:14:29.104Z,1628907269.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.02 m.
2021-08-14T02:14:29.105Z,1628907269.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.02 m.
2021-08-14T02:14:29.105Z,1628907269.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T02:14:29.107Z,1628907269.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.020000 m,
      bearing: 184.800071 deg,
      approachRate: -0.590404 m/s,
      LOS rate: 0.496682 deg/s,
      cmd update: 1.490045 deg/s,
      cmd heading: 183.957878 deg,
      new cmd heading: 183.687266 deg.

2021-08-14T02:14:31.470Z,1628907271.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:14:31.849Z,1628907271.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:14:31.849Z,1628907271.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:14:31.849Z,1628907271.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:14:31.850Z,1628907271.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:14:32.257Z,1628907272.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,00444,186,80,80,93,FF
2021-08-14T02:14:32.257Z,1628907272.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:14:32.257Z,1628907272.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:14:32.259Z,1628907272.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:14:32.664Z,1628907272.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:14:33.069Z,1628907273.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,00419,187,80,80,8B,FF
2021-08-14T02:14:33.069Z,1628907273.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:14:33.099Z,1628907273.099 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:14:33.509Z,1628907273.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021433.36*5C

2021-08-14T02:14:33.549Z,1628907273.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 182.637209 deg, deltaT: 4.457773 s, approachRate: -0.578764 m/s, LOS rate: -0.485189 deg/s, posRepo size: 4
2021-08-14T02:14:33.551Z,1628907273.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.440001 m,
      bearing: 182.637209 deg,
      approachRate: -0.578764 m/s,
      LOS rate: -0.485189 deg/s,
      cmd update: -1.455566 deg/s,
      cmd heading: 190.603927 deg,
      new cmd heading: 191.277830 deg.

2021-08-14T02:14:35.964Z,1628907275.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:14:36.293Z,1628907276.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:14:36.293Z,1628907276.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:14:36.293Z,1628907276.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:14:36.294Z,1628907276.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:14:36.693Z,1628907276.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,00419,187,80,80,8B,FF
2021-08-14T02:14:36.693Z,1628907276.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:14:36.693Z,1628907276.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:14:36.695Z,1628907276.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:14:37.109Z,1628907277.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:14:37.509Z,1628907277.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,003EE,186,80,80,84,FF
2021-08-14T02:14:37.510Z,1628907277.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:14:37.534Z,1628907277.534 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:14:38.013Z,1628907278.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021437.79*53

2021-08-14T02:14:38.073Z,1628907278.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 182.677057 deg, deltaT: 4.434489 s, approachRate: -0.581803 m/s, LOS rate: 0.008986 deg/s, posRepo size: 4
2021-08-14T02:14:38.075Z,1628907278.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.860001 m,
      bearing: 182.677057 deg,
      approachRate: -0.581803 m/s,
      LOS rate: 0.008986 deg/s,
      cmd update: 0.026957 deg/s,
      cmd heading: 184.148838 deg,
      new cmd heading: 183.360649 deg.

2021-08-14T02:14:40.384Z,1628907280.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:14:40.773Z,1628907280.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:14:40.773Z,1628907280.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:14:40.773Z,1628907280.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:14:40.774Z,1628907280.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:14:41.161Z,1628907281.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,003EE,186,80,80,84,FF
2021-08-14T02:14:41.161Z,1628907281.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:14:41.161Z,1628907281.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:14:41.163Z,1628907281.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:14:41.593Z,1628907281.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:14:41.969Z,1628907281.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,003C5,185,80,80,97,FF
2021-08-14T02:14:41.969Z,1628907281.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:14:41.986Z,1628907281.986 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T02:14:42.058Z,1628907282.058 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:14:42.416Z,1628907282.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021442.26*5B

2021-08-14T02:14:42.439Z,1628907282.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 184.804305 deg, deltaT: 4.523420 s, approachRate: -0.543836 m/s, LOS rate: 0.470274 deg/s, posRepo size: 4
2021-08-14T02:14:42.441Z,1628907282.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.400002 m,
      bearing: 184.804305 deg,
      approachRate: -0.543836 m/s,
      LOS rate: 0.470274 deg/s,
      cmd update: 1.410823 deg/s,
      cmd heading: 184.270670 deg,
      new cmd heading: 184.281145 deg.

2021-08-14T02:14:44.854Z,1628907284.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:14:45.205Z,1628907285.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:14:45.205Z,1628907285.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:14:45.205Z,1628907285.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:14:45.206Z,1628907285.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:14:45.613Z,1628907285.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,003C5,185,80,80,97,FF
2021-08-14T02:14:45.613Z,1628907285.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:14:45.613Z,1628907285.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:14:45.615Z,1628907285.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:14:46.017Z,1628907286.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:14:46.413Z,1628907286.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00394,184,80,80,BA,FF
2021-08-14T02:14:46.414Z,1628907286.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:14:46.495Z,1628907286.495 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:14:46.858Z,1628907286.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021446.71*5D

2021-08-14T02:14:46.896Z,1628907286.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.459999 m, bearing: 185.664158 deg, deltaT: 4.437175 s, approachRate: -0.662584 m/s, LOS rate: 0.193784 deg/s, posRepo size: 4
2021-08-14T02:14:46.898Z,1628907286.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.459999 m,
      bearing: 185.664158 deg,
      approachRate: -0.662584 m/s,
      LOS rate: 0.193784 deg/s,
      cmd update: 0.581351 deg/s,
      cmd heading: 190.535747 deg,
      new cmd heading: 191.106130 deg.

2021-08-14T02:14:49.267Z,1628907289.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:14:49.664Z,1628907289.664 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:14:49.664Z,1628907289.664 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:14:49.665Z,1628907289.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:14:49.666Z,1628907289.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:14:50.049Z,1628907290.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00394,184,80,80,BA,FF
2021-08-14T02:14:50.049Z,1628907290.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:14:50.049Z,1628907290.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:14:50.051Z,1628907290.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:14:50.462Z,1628907290.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:14:50.857Z,1628907290.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,00364,186,80,80,67,FF
2021-08-14T02:14:50.857Z,1628907290.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:14:50.931Z,1628907290.931 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:14:51.300Z,1628907291.300 [Micromodem](INFO): Nmea in: $SNTTA,0.031102,,,,021451.15*46

2021-08-14T02:14:51.325Z,1628907291.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.579999 m, bearing: 183.699468 deg, deltaT: 4.440641 s, approachRate: -0.648555 m/s, LOS rate: -0.442434 deg/s, posRepo size: 4
2021-08-14T02:14:51.329Z,1628907291.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.579999 m,
      bearing: 183.699468 deg,
      approachRate: -0.648555 m/s,
      LOS rate: -0.442434 deg/s,
      cmd update: -1.327302 deg/s,
      cmd heading: 193.108465 deg,
      new cmd heading: 193.345239 deg.

2021-08-14T02:14:53.788Z,1628907293.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:14:54.089Z,1628907294.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:14:54.089Z,1628907294.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:14:54.089Z,1628907294.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:14:54.090Z,1628907294.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:14:54.493Z,1628907294.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,00364,186,80,80,67,FF
2021-08-14T02:14:54.493Z,1628907294.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:14:54.494Z,1628907294.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:14:54.495Z,1628907294.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:14:54.910Z,1628907294.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:14:55.302Z,1628907295.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,00348,185,80,80,A8,FF
2021-08-14T02:14:55.303Z,1628907295.303 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:14:55.370Z,1628907295.370 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:14:55.809Z,1628907295.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021455.59*55

2021-08-14T02:14:55.929Z,1628907295.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.899998 m, bearing: 184.136518 deg, deltaT: 4.434491 s, approachRate: -0.378849 m/s, LOS rate: 0.098557 deg/s, posRepo size: 4
2021-08-14T02:14:55.931Z,1628907295.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.899998 m,
      bearing: 184.136518 deg,
      approachRate: -0.378849 m/s,
      LOS rate: 0.098557 deg/s,
      cmd update: 0.295671 deg/s,
      cmd heading: 187.207070 deg,
      new cmd heading: 186.455698 deg.

2021-08-14T02:14:58.163Z,1628907298.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:14:58.537Z,1628907298.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:14:58.537Z,1628907298.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:14:58.537Z,1628907298.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:14:58.538Z,1628907298.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:14:58.937Z,1628907298.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,00348,185,80,80,A8,FF
2021-08-14T02:14:58.937Z,1628907298.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:14:58.937Z,1628907298.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:14:58.939Z,1628907298.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:14:59.353Z,1628907299.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:14:59.785Z,1628907299.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,0030D,184,80,80,88,FF
2021-08-14T02:14:59.785Z,1628907299.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:14:59.860Z,1628907299.860 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:15:00.185Z,1628907300.185 [Micromodem](INFO): Nmea in: $SNTTA,0.032372,,,,021500.04*45

2021-08-14T02:15:00.223Z,1628907300.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 186.236391 deg, deltaT: 4.490165 s, approachRate: -0.788390 m/s, LOS rate: 0.467661 deg/s, posRepo size: 4
2021-08-14T02:15:00.226Z,1628907300.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 186.236391 deg,
      approachRate: -0.788390 m/s,
      LOS rate: 0.467661 deg/s,
      cmd update: 1.402982 deg/s,
      cmd heading: 188.534590 deg,
      new cmd heading: 188.644212 deg.

2021-08-14T02:15:02.591Z,1628907302.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:15:02.977Z,1628907302.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:15:02.977Z,1628907302.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:15:02.977Z,1628907302.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:15:02.978Z,1628907302.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:15:03.386Z,1628907303.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,0030D,184,80,80,88,FF
2021-08-14T02:15:03.386Z,1628907303.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:15:03.386Z,1628907303.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:15:03.388Z,1628907303.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:15:03.789Z,1628907303.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:15:04.196Z,1628907304.196 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05A,000,002E7,184,80,80,B5,FF
2021-08-14T02:15:04.196Z,1628907304.196 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:15:04.216Z,1628907304.216 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:15:04.645Z,1628907304.645 [Micromodem](INFO): Nmea in: $SNTTA,0.007053,,,,021504.49*4E

2021-08-14T02:15:04.690Z,1628907304.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 187.365544 deg, deltaT: 4.356227 s, approachRate: -0.523388 m/s, LOS rate: 0.259204 deg/s, posRepo size: 4
2021-08-14T02:15:04.696Z,1628907304.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 187.365544 deg,
      approachRate: -0.523388 m/s,
      LOS rate: 0.259204 deg/s,
      cmd update: 0.777613 deg/s,
      cmd heading: 194.652121 deg,
      new cmd heading: 195.321113 deg.

2021-08-14T02:15:07.066Z,1628907307.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:15:07.425Z,1628907307.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:15:07.425Z,1628907307.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:15:07.425Z,1628907307.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:15:07.426Z,1628907307.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:15:07.834Z,1628907307.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05A,000,002E7,184,80,80,B5,FF
2021-08-14T02:15:07.834Z,1628907307.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:15:07.834Z,1628907307.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:15:07.836Z,1628907307.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:15:08.241Z,1628907308.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:15:08.645Z,1628907308.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,120,000,002C3,186,80,80,AF,FF
2021-08-14T02:15:08.646Z,1628907308.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:15:08.706Z,1628907308.706 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:15:09.077Z,1628907309.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021508.94*5D

2021-08-14T02:15:09.114Z,1628907309.114 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T02:15:09.115Z,1628907309.115 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T02:15:09.115Z,1628907309.115 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T02:15:09.115Z,1628907309.115 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T02:15:09.115Z,1628907309.115 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T02:15:09.116Z,1628907309.116 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.919998 m 
2021-08-14T02:15:09.116Z,1628907309.116 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T02:15:09.116Z,1628907309.116 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T02:15:09.116Z,1628907309.116 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T02:15:09.119Z,1628907309.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.919998 m, bearing: 183.903417 deg, deltaT: 4.490208 s, approachRate: -0.481047 m/s, LOS rate: -0.771039 deg/s, posRepo size: 4
2021-08-14T02:15:09.121Z,1628907309.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 183.903417 deg,
      approachRate: -0.481047 m/s,
      LOS rate: -0.771039 deg/s,
      cmd update: -2.313118 deg/s,
      cmd heading: 198.114959 deg,
      new cmd heading: 198.466828 deg.

2021-08-14T02:15:09.476Z,1628907309.476 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T021509: (41.552319, -70.708603)
2021-08-14T02:15:09.476Z,1628907309.476 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T02:15:09.476Z,1628907309.476 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T02:15:09.476Z,1628907309.476 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T02:15:09.477Z,1628907309.477 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T02:15:09.477Z,1628907309.477 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T02:15:09.477Z,1628907309.477 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T02:15:09.477Z,1628907309.477 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T02:15:09.477Z,1628907309.477 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T02:15:11.483Z,1628907311.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:15:11.869Z,1628907311.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:15:11.869Z,1628907311.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:15:11.870Z,1628907311.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:15:11.871Z,1628907311.871 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:15:12.277Z,1628907312.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
120,000,002C3,186,80,80,AF,FF
2021-08-14T02:15:12.277Z,1628907312.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:15:12.277Z,1628907312.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:15:12.279Z,1628907312.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:15:12.681Z,1628907312.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:15:13.082Z,1628907313.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,002B8,186,80,80,6F,FF
2021-08-14T02:15:13.082Z,1628907313.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:15:13.106Z,1628907313.106 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:15:13.517Z,1628907313.517 [Micromodem](INFO): Nmea in: $SNTTA,0.031776,,,,021513.38*4B

2021-08-14T02:15:13.539Z,1628907313.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.259999 m, bearing: 191.795960 deg, deltaT: 4.399613 s, approachRate: -0.150013 m/s, LOS rate: 1.793918 deg/s, posRepo size: 4
2021-08-14T02:15:13.541Z,1628907313.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.259999 m,
      bearing: 191.795960 deg,
      approachRate: -0.150013 m/s,
      LOS rate: 1.793918 deg/s,
      cmd update: 5.381753 deg/s,
      cmd heading: 187.851985 deg,
      new cmd heading: 186.842938 deg.

2021-08-14T02:15:15.977Z,1628907315.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:15:16.318Z,1628907316.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:15:16.318Z,1628907316.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:15:16.318Z,1628907316.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:15:16.319Z,1628907316.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:15:16.740Z,1628907316.740 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,002B8,186,80,80,6F,FF
2021-08-14T02:15:16.740Z,1628907316.740 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:15:16.740Z,1628907316.740 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:15:16.745Z,1628907316.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:15:17.125Z,1628907317.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:15:17.521Z,1628907317.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F54,000,002C7,186,80,80,9C,FF
2021-08-14T02:15:17.522Z,1628907317.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:15:17.541Z,1628907317.541 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:15:17.957Z,1628907317.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021517.84*52

2021-08-14T02:15:18.012Z,1628907318.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 199.515495 deg, deltaT: 4.435045 s, approachRate: 0.202930 m/s, LOS rate: 1.740576 deg/s, posRepo size: 4
2021-08-14T02:15:18.014Z,1628907318.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 199.515495 deg,
      approachRate: 0.202930 m/s,
      LOS rate: 1.740576 deg/s,
      cmd update: 5.221729 deg/s,
      cmd heading: 211.720483 deg,
      new cmd heading: 214.268690 deg.

2021-08-14T02:15:20.374Z,1628907320.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:15:20.785Z,1628907320.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:15:20.785Z,1628907320.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:15:20.785Z,1628907320.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:15:20.786Z,1628907320.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:15:21.157Z,1628907321.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F54,000,002C7,186,80,80,9C,FF
2021-08-14T02:15:21.157Z,1628907321.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:15:21.157Z,1628907321.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:15:21.159Z,1628907321.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:15:21.569Z,1628907321.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:15:21.965Z,1628907321.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,002E8,187,80,80,4A,FF
2021-08-14T02:15:21.966Z,1628907321.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:15:22.053Z,1628907322.053 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:15:22.409Z,1628907322.409 [Micromodem](INFO): Nmea in: $SNTTA,0.031522,,,,021522.26*45

2021-08-14T02:15:22.431Z,1628907322.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.139998 m, bearing: 210.520377 deg, deltaT: 4.511963 s, approachRate: 0.438833 m/s, LOS rate: 2.439045 deg/s, posRepo size: 4
2021-08-14T02:15:22.433Z,1628907322.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 210.520377 deg,
      approachRate: 0.438833 m/s,
      LOS rate: 2.439045 deg/s,
      cmd update: 7.317136 deg/s,
      cmd heading: 235.197393 deg,
      new cmd heading: 237.270221 deg.

2021-08-14T02:15:24.838Z,1628907324.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:15:25.197Z,1628907325.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:15:25.197Z,1628907325.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:15:25.197Z,1628907325.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:15:25.198Z,1628907325.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:15:25.613Z,1628907325.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,002E8,187,80,80,4A,FF
2021-08-14T02:15:25.613Z,1628907325.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:15:25.613Z,1628907325.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:15:25.615Z,1628907325.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:15:26.008Z,1628907326.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:15:26.413Z,1628907326.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00310,182,80,80,99,FF
2021-08-14T02:15:26.413Z,1628907326.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:15:26.433Z,1628907326.433 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:15:26.837Z,1628907326.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021526.71*5A

2021-08-14T02:15:26.885Z,1628907326.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 220.644494 deg, deltaT: 4.380298 s, approachRate: 0.547908 m/s, LOS rate: 2.311285 deg/s, posRepo size: 4
2021-08-14T02:15:26.887Z,1628907326.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 220.644494 deg,
      approachRate: 0.547908 m/s,
      LOS rate: 2.311285 deg/s,
      cmd update: 6.933854 deg/s,
      cmd heading: 267.365486 deg,
      new cmd heading: 270.661366 deg.

2021-08-14T02:15:29.279Z,1628907329.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:15:29.652Z,1628907329.652 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:15:29.652Z,1628907329.652 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:15:29.653Z,1628907329.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:15:29.654Z,1628907329.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:15:30.054Z,1628907330.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00310,182,80,80,99,FF
2021-08-14T02:15:30.054Z,1628907330.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:15:30.054Z,1628907330.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:15:30.056Z,1628907330.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:15:30.465Z,1628907330.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:15:30.857Z,1628907330.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D92,000,0032C,18A,80,80,A8,FF
2021-08-14T02:15:30.857Z,1628907330.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:15:30.917Z,1628907330.917 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:15:31.298Z,1628907331.298 [Micromodem](INFO): Nmea in: $SNTTA,0.032725,,,,021531.15*41

2021-08-14T02:15:31.339Z,1628907331.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.220001 m, bearing: 268.637870 deg, deltaT: 4.483057 s, approachRate: 0.374745 m/s, LOS rate: 10.705502 deg/s, posRepo size: 4
2021-08-14T02:15:31.339Z,1628907331.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 11.22 m. Rolling out.
2021-08-14T02:15:31.339Z,1628907331.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T02:15:33.794Z,1628907333.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:15:34.081Z,1628907334.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:15:34.081Z,1628907334.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:15:34.082Z,1628907334.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:15:34.082Z,1628907334.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:15:34.498Z,1628907334.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D92,000,0032C,18A,80,80,A8,FF
2021-08-14T02:15:34.498Z,1628907334.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:15:34.498Z,1628907334.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:15:34.502Z,1628907334.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:15:34.906Z,1628907334.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:15:35.306Z,1628907335.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,00351,186,80,80,8D,FF
2021-08-14T02:15:35.307Z,1628907335.307 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:15:35.370Z,1628907335.370 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:15:35.786Z,1628907335.786 [Micromodem](INFO): Nmea in: $SNTTA,0.043662,,,,021535.60*43

2021-08-14T02:15:35.853Z,1628907335.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 277.277075 deg, deltaT: 4.453581 s, approachRate: 0.498475 m/s, LOS rate: 1.939833 deg/s, posRepo size: 4
2021-08-14T02:15:38.158Z,1628907338.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:15:38.530Z,1628907338.530 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:15:38.530Z,1628907338.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:15:38.530Z,1628907338.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:15:38.531Z,1628907338.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:15:38.933Z,1628907338.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,00351,186,80,80,8D,FF
2021-08-14T02:15:38.933Z,1628907338.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:15:38.933Z,1628907338.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:15:38.935Z,1628907338.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:15:39.360Z,1628907339.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:15:39.777Z,1628907339.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,0035C,185,80,80,62,FF
2021-08-14T02:15:39.777Z,1628907339.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:15:39.886Z,1628907339.886 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:15:40.188Z,1628907340.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021540.03*5F

2021-08-14T02:15:40.215Z,1628907340.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 290.838935 deg, deltaT: 4.516280 s, approachRate: 0.146139 m/s, LOS rate: 3.002883 deg/s, posRepo size: 4
2021-08-14T02:15:42.177Z,1628907342.177 [PowerOnly](INFO): Powering down loadControl
2021-08-14T02:15:42.610Z,1628907342.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:15:42.973Z,1628907342.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:15:42.973Z,1628907342.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:15:42.973Z,1628907342.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:15:42.974Z,1628907342.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:15:43.397Z,1628907343.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,0035C,185,80,80,62,FF
2021-08-14T02:15:43.398Z,1628907343.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:15:43.398Z,1628907343.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:15:43.401Z,1628907343.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:15:43.793Z,1628907343.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:15:44.195Z,1628907344.195 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E08,000,00367,187,80,80,7B,FF
2021-08-14T02:15:44.195Z,1628907344.195 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:15:44.258Z,1628907344.258 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:15:44.617Z,1628907344.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021544.50*5D

2021-08-14T02:15:44.639Z,1628907344.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.759997 m, bearing: 319.524145 deg, deltaT: 4.371945 s, approachRate: 0.150962 m/s, LOS rate: 6.561201 deg/s, posRepo size: 4
2021-08-14T02:15:47.061Z,1628907347.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:15:47.423Z,1628907347.423 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:15:47.424Z,1628907347.424 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:15:47.424Z,1628907347.424 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:15:47.425Z,1628907347.425 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:15:47.837Z,1628907347.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E08,000,00367,187,80,80,7B,FF
2021-08-14T02:15:47.837Z,1628907347.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:15:47.837Z,1628907347.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:15:47.839Z,1628907347.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:15:48.225Z,1628907348.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:15:48.633Z,1628907348.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEB,000,00372,188,80,80,51,FF
2021-08-14T02:15:48.634Z,1628907348.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:15:48.653Z,1628907348.653 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:15:49.063Z,1628907349.063 [Micromodem](INFO): Nmea in: $SNTTA,0.036417,,,,021548.94*40

2021-08-14T02:15:49.119Z,1628907349.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.420000 m, bearing: 335.619841 deg, deltaT: 4.394687 s, approachRate: 0.150182 m/s, LOS rate: 3.662535 deg/s, posRepo size: 4
2021-08-14T02:15:51.490Z,1628907351.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:15:51.861Z,1628907351.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:15:51.861Z,1628907351.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:15:51.861Z,1628907351.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:15:51.862Z,1628907351.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:15:52.271Z,1628907352.271 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEB,000,00372,188,80,80,51,FF
2021-08-14T02:15:52.271Z,1628907352.271 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:15:52.271Z,1628907352.271 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:15:52.272Z,1628907352.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:15:52.674Z,1628907352.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:15:53.077Z,1628907353.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,00394,186,80,80,99,FF
2021-08-14T02:15:53.078Z,1628907353.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:15:53.193Z,1628907353.193 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:15:53.522Z,1628907353.522 [Micromodem](INFO): Nmea in: $SNTTA,0.033498,,,,021553.37*41

2021-08-14T02:15:53.543Z,1628907353.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.459999 m, bearing: 320.489169 deg, deltaT: 4.539712 s, approachRate: 0.449367 m/s, LOS rate: -3.332959 deg/s, posRepo size: 4
2021-08-14T02:15:55.962Z,1628907355.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:15:56.310Z,1628907356.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:15:56.310Z,1628907356.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:15:56.310Z,1628907356.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:15:56.311Z,1628907356.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:15:56.729Z,1628907356.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,00394,186,80,80,99,FF
2021-08-14T02:15:56.729Z,1628907356.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:15:56.730Z,1628907356.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:15:56.734Z,1628907356.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:15:57.117Z,1628907357.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:15:57.517Z,1628907357.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,00397,185,80,80,35,FF
2021-08-14T02:15:57.517Z,1628907357.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:15:57.561Z,1628907357.561 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:15:57.958Z,1628907357.958 [Micromodem](INFO): Nmea in: $SNTTA,0.066734,,,,021557.83*4F

2021-08-14T02:15:58.041Z,1628907358.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.639997 m, bearing: 308.052296 deg, deltaT: 4.368251 s, approachRate: 0.041206 m/s, LOS rate: -2.847106 deg/s, posRepo size: 4
2021-08-14T02:16:00.385Z,1628907360.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:00.773Z,1628907360.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:16:00.773Z,1628907360.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:16:00.773Z,1628907360.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:16:00.774Z,1628907360.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:16:01.157Z,1628907361.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,00397,185,80,80,35,FF
2021-08-14T02:16:01.158Z,1628907361.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:16:01.158Z,1628907361.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:16:01.160Z,1628907361.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:16:01.561Z,1628907361.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:16:01.969Z,1628907361.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,003C5,187,80,80,40,FF
2021-08-14T02:16:01.969Z,1628907361.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:16:02.061Z,1628907362.061 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:16:02.401Z,1628907362.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021602.26*5D

2021-08-14T02:16:02.436Z,1628907362.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 325.119982 deg, deltaT: 4.500159 s, approachRate: 0.613313 m/s, LOS rate: 3.792685 deg/s, posRepo size: 4
2021-08-14T02:16:04.845Z,1628907364.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:05.199Z,1628907365.199 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:16:05.199Z,1628907365.199 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:16:05.199Z,1628907365.199 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:16:05.200Z,1628907365.200 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:16:05.597Z,1628907365.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,003C5,187,80,80,40,FF
2021-08-14T02:16:05.597Z,1628907365.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:16:05.597Z,1628907365.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:16:05.599Z,1628907365.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:16:06.004Z,1628907366.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:16:06.409Z,1628907366.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,003DF,186,80,80,63,FF
2021-08-14T02:16:06.410Z,1628907366.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:16:06.470Z,1628907366.470 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:16:06.841Z,1628907366.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021606.70*5A

2021-08-14T02:16:06.878Z,1628907366.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 319.513627 deg, deltaT: 4.408636 s, approachRate: 0.353850 m/s, LOS rate: -1.271676 deg/s, posRepo size: 4
2021-08-14T02:16:08.065Z,1628907368.065 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T02:16:09.270Z,1628907369.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:09.633Z,1628907369.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:16:09.633Z,1628907369.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:16:09.634Z,1628907369.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:16:09.635Z,1628907369.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:16:10.045Z,1628907370.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,003DF,186,80,80,63,FF
2021-08-14T02:16:10.045Z,1628907370.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:16:10.045Z,1628907370.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:16:10.047Z,1628907370.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:16:10.449Z,1628907370.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:16:10.849Z,1628907370.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,00405,186,80,80,8A,FF
2021-08-14T02:16:10.850Z,1628907370.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:16:10.880Z,1628907370.880 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:16:11.289Z,1628907371.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021611.15*5F

2021-08-14T02:16:11.338Z,1628907371.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.239998 m, bearing: 319.621707 deg, deltaT: 4.410681 s, approachRate: 0.516927 m/s, LOS rate: 0.024504 deg/s, posRepo size: 4
2021-08-14T02:16:13.786Z,1628907373.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:14.089Z,1628907374.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:16:14.089Z,1628907374.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:16:14.089Z,1628907374.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:16:14.090Z,1628907374.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:16:14.489Z,1628907374.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,00405,186,80,80,8A,FF
2021-08-14T02:16:14.490Z,1628907374.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:16:14.490Z,1628907374.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:16:14.492Z,1628907374.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:16:14.892Z,1628907374.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:16:15.767Z,1628907375.767 [Micromodem](INFO): Nmea in: $SNTTA,0.492180,0.492055,,,021615.59*5A

2021-08-14T02:16:15.783Z,1628907375.783 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T02:16:16.543Z,1628907376.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:17.778Z,1628907377.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E405,186,80,80,8A,FF
2021-08-14T02:16:17.778Z,1628907377.778 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E405,186,80,80,8A,FF
2021-08-14T02:16:17.778Z,1628907377.778 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:16:19.363Z,1628907379.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:19.777Z,1628907379.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:16:19.777Z,1628907379.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:16:19.777Z,1628907379.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:16:19.778Z,1628907379.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:16:20.153Z,1628907380.153 [DUSBL_Hydroid](INFO): DUSBL response received:4
!U1,P
,80,63,E405,186,80,80,8A,FF
2021-08-14T02:16:20.153Z,1628907380.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:16:20.153Z,1628907380.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:16:20.155Z,1628907380.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:16:20.561Z,1628907380.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:16:20.953Z,1628907380.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,0045A,183,80,80,56,FF
2021-08-14T02:16:20.953Z,1628907380.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:16:21.027Z,1628907381.027 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:16:21.397Z,1628907381.397 [Micromodem](INFO): Nmea in: $SNTTA,0.059920,,,,021621.25*46

2021-08-14T02:16:21.419Z,1628907381.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.340000 m, bearing: 302.912251 deg, deltaT: 10.146594 s, approachRate: 0.502632 m/s, LOS rate: -1.646804 deg/s, posRepo size: 4
2021-08-14T02:16:23.857Z,1628907383.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:24.192Z,1628907384.192 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:16:24.192Z,1628907384.192 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:16:24.192Z,1628907384.192 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:16:24.193Z,1628907384.193 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:16:24.585Z,1628907384.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,0045A,183,80,80,56,FF
2021-08-14T02:16:24.585Z,1628907384.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:16:24.586Z,1628907384.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:16:24.587Z,1628907384.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:16:25.090Z,1628907385.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:16:25.401Z,1628907385.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,00480,185,80,80,3B,FF
2021-08-14T02:16:25.402Z,1628907385.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:16:25.421Z,1628907385.421 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:16:25.837Z,1628907385.837 [Micromodem](INFO): Nmea in: $SNTTA,0.043886,,,,021625.69*4C

2021-08-14T02:16:25.862Z,1628907385.862 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:16:25.899Z,1628907385.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.620001 m, bearing: 301.752047 deg, deltaT: 4.394080 s, approachRate: 0.518880 m/s, LOS rate: -0.264038 deg/s, posRepo size: 4
2021-08-14T02:16:28.238Z,1628907388.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:28.631Z,1628907388.631 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:16:28.631Z,1628907388.631 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:16:28.631Z,1628907388.631 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:16:28.632Z,1628907388.632 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:16:29.052Z,1628907389.052 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,00480,185,80,80,3B,FF
2021-08-14T02:16:29.052Z,1628907389.052 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:16:29.053Z,1628907389.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:16:29.054Z,1628907389.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:16:29.441Z,1628907389.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:16:29.847Z,1628907389.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D34,000,004AB,189,80,80,63,FF
2021-08-14T02:16:29.847Z,1628907389.847 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:16:29.866Z,1628907389.866 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T02:16:29.909Z,1628907389.909 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:16:30.266Z,1628907390.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021630.15*5C

2021-08-14T02:16:30.287Z,1628907390.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 339.445184 deg, deltaT: 4.487681 s, approachRate: 0.574907 m/s, LOS rate: 8.399246 deg/s, posRepo size: 4
2021-08-14T02:16:32.736Z,1628907392.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:33.077Z,1628907393.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:16:33.077Z,1628907393.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:16:33.077Z,1628907393.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:16:33.078Z,1628907393.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:16:33.477Z,1628907393.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D34,000,004AB,189,80,80,63,FF
2021-08-14T02:16:33.477Z,1628907393.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:16:33.477Z,1628907393.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:16:33.479Z,1628907393.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:16:33.889Z,1628907393.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:16:34.281Z,1628907394.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,005E2,187,80,80,22,FF
2021-08-14T02:16:34.281Z,1628907394.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:16:34.337Z,1628907394.337 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:16:34.745Z,1628907394.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021634.58*51

2021-08-14T02:16:34.787Z,1628907394.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.860004 m, bearing: 321.080663 deg, deltaT: 4.427857 s, approachRate: 4.214229 m/s, LOS rate: -4.147496 deg/s, posRepo size: 4
2021-08-14T02:16:35.121Z,1628907395.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:16:35.121Z,1628907395.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:16:35.121Z,1628907395.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:16:35.122Z,1628907395.122 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:16:35.122Z,1628907395.122 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:16:35.122Z,1628907395.122 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:16:35.518Z,1628907395.518 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:16:35.518Z,1628907395.518 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:16:35.518Z,1628907395.518 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:16:35.518Z,1628907395.518 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:16:37.135Z,1628907397.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:37.513Z,1628907397.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:16:37.513Z,1628907397.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:16:37.513Z,1628907397.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:16:37.514Z,1628907397.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:16:37.925Z,1628907397.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,005E2,187,80,80,22,FF
2021-08-14T02:16:37.925Z,1628907397.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:16:37.925Z,1628907397.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:16:37.927Z,1628907397.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:16:38.339Z,1628907398.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:16:38.745Z,1628907398.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBC,000,00502,189,80,80,88,FF
2021-08-14T02:16:38.745Z,1628907398.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:16:39.173Z,1628907399.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021639.03*52

2021-08-14T02:16:39.191Z,1628907399.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.419998 m, bearing: 332.631114 deg, deltaT: 4.437636 s, approachRate: -3.028641 m/s, LOS rate: 2.602839 deg/s, posRepo size: 4
2021-08-14T02:16:39.561Z,1628907399.561 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:16:39.561Z,1628907399.561 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:16:39.561Z,1628907399.561 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:16:39.562Z,1628907399.562 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:16:39.562Z,1628907399.562 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:16:39.562Z,1628907399.562 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:16:40.021Z,1628907400.021 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:16:40.022Z,1628907400.022 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:16:40.022Z,1628907400.022 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:16:40.022Z,1628907400.022 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:16:41.586Z,1628907401.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:41.969Z,1628907401.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:16:41.969Z,1628907401.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:16:41.969Z,1628907401.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:16:41.970Z,1628907401.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:16:42.373Z,1628907402.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBC,000,00502,189,80,80,88,FF
2021-08-14T02:16:42.373Z,1628907402.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:16:42.373Z,1628907402.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:16:42.375Z,1628907402.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:16:42.784Z,1628907402.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:16:43.177Z,1628907403.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEB,000,0052F,187,80,80,4E,FF
2021-08-14T02:16:43.177Z,1628907403.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:16:43.225Z,1628907403.225 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:16:43.614Z,1628907403.614 [Micromodem](INFO): Nmea in: $SNTTA,0.046068,,,,021643.47*4D

2021-08-14T02:16:43.638Z,1628907403.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.119999 m, bearing: 331.148772 deg, deltaT: 4.453412 s, approachRate: 0.606277 m/s, LOS rate: -0.332855 deg/s, posRepo size: 4
2021-08-14T02:16:44.078Z,1628907404.078 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:16:44.078Z,1628907404.078 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:16:44.078Z,1628907404.078 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:16:44.079Z,1628907404.079 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:16:44.079Z,1628907404.079 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:16:44.079Z,1628907404.079 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:16:44.413Z,1628907404.413 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:16:44.413Z,1628907404.413 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:16:44.414Z,1628907404.414 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:16:44.414Z,1628907404.414 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:16:45.746Z,1628907405.746 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T02:16:45.773Z,1628907405.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:46.009Z,1628907406.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:16:46.009Z,1628907406.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:16:46.009Z,1628907406.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:16:46.010Z,1628907406.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:16:46.413Z,1628907406.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEB,000,0052F,187,80,80,4E,FF
2021-08-14T02:16:46.413Z,1628907406.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:16:46.413Z,1628907406.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:16:46.415Z,1628907406.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:16:46.809Z,1628907406.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:16:47.213Z,1628907407.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,00558,186,80,80,66,FF
2021-08-14T02:16:47.214Z,1628907407.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:16:47.653Z,1628907407.653 [Micromodem](INFO): Nmea in: $SNTTA,0.052549,,,,021647.52*4E

2021-08-14T02:16:47.738Z,1628907407.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.579998 m, bearing: 324.256510 deg, deltaT: 4.004737 s, approachRate: 0.614272 m/s, LOS rate: -1.721027 deg/s, posRepo size: 4
2021-08-14T02:16:49.744Z,1628907409.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:50.061Z,1628907410.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:16:50.061Z,1628907410.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:16:50.061Z,1628907410.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:16:50.063Z,1628907410.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:16:50.441Z,1628907410.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,00558,186,80,80,66,FF
2021-08-14T02:16:50.441Z,1628907410.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:16:50.441Z,1628907410.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:16:50.443Z,1628907410.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:16:50.856Z,1628907410.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:16:51.254Z,1628907411.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,0057F,186,80,80,56,FF
2021-08-14T02:16:51.255Z,1628907411.255 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:16:51.721Z,1628907411.721 [Micromodem](INFO): Nmea in: $SNTTA,0.052023,,,,021651.54*46

2021-08-14T02:16:51.791Z,1628907411.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.919994 m, bearing: 324.242139 deg, deltaT: 4.045887 s, approachRate: 0.578364 m/s, LOS rate: -0.003552 deg/s, posRepo size: 4
2021-08-14T02:16:54.125Z,1628907414.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:54.481Z,1628907414.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:16:54.481Z,1628907414.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:16:54.481Z,1628907414.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:16:54.482Z,1628907414.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:16:54.897Z,1628907414.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,0057F,186,80,80,56,FF
2021-08-14T02:16:54.897Z,1628907414.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:16:54.898Z,1628907414.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:16:54.899Z,1628907414.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:16:55.303Z,1628907415.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:16:55.765Z,1628907415.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,005A9,185,80,80,4F,FF
2021-08-14T02:16:55.765Z,1628907415.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:16:55.777Z,1628907415.777 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-14T02:16:56.129Z,1628907416.129 [Micromodem](INFO): Nmea in: $SNTTA,0.044814,,,,021656.00*4B

2021-08-14T02:16:56.151Z,1628907416.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.439995 m, bearing: 312.402580 deg, deltaT: 4.546978 s, approachRate: 0.554214 m/s, LOS rate: -2.603830 deg/s, posRepo size: 4
2021-08-14T02:16:58.538Z,1628907418.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:16:58.938Z,1628907418.938 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:16:58.938Z,1628907418.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:16:58.938Z,1628907418.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:16:58.939Z,1628907418.939 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:16:59.337Z,1628907419.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,005A9,185,80,80,4F,FF
2021-08-14T02:16:59.337Z,1628907419.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:16:59.338Z,1628907419.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:16:59.339Z,1628907419.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:16:59.785Z,1628907419.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:17:00.148Z,1628907420.148 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,005D8,186,80,80,7F,FF
2021-08-14T02:17:00.148Z,1628907420.148 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:17:00.581Z,1628907420.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021700.44*5A

2021-08-14T02:17:00.611Z,1628907420.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.260002 m, bearing: 313.806348 deg, deltaT: 4.342583 s, approachRate: 0.649385 m/s, LOS rate: 0.323256 deg/s, posRepo size: 4
2021-08-14T02:17:03.017Z,1628907423.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:17:03.399Z,1628907423.399 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:17:03.399Z,1628907423.399 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:17:03.399Z,1628907423.399 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:17:03.404Z,1628907423.404 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:17:03.782Z,1628907423.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,005D8,186,80,80,7F,FF
2021-08-14T02:17:03.782Z,1628907423.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:17:03.782Z,1628907423.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:17:03.802Z,1628907423.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:17:04.197Z,1628907424.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:17:04.594Z,1628907424.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,0060E,186,80,80,75,FF
2021-08-14T02:17:04.595Z,1628907424.595 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:17:05.003Z,1628907425.003 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021704.90*57

2021-08-14T02:17:05.042Z,1628907425.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.500000 m, bearing: 313.907872 deg, deltaT: 4.488018 s, approachRate: 0.721922 m/s, LOS rate: 0.022621 deg/s, posRepo size: 4
2021-08-14T02:17:07.437Z,1628907427.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:17:07.815Z,1628907427.815 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:17:07.815Z,1628907427.815 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:17:07.815Z,1628907427.815 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:17:07.817Z,1628907427.817 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:17:08.214Z,1628907428.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,0060E,186,80,80,75,FF
2021-08-14T02:17:08.215Z,1628907428.215 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:17:08.215Z,1628907428.215 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:17:08.217Z,1628907428.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:17:08.646Z,1628907428.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:17:09.025Z,1628907429.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,00636,186,80,80,AF,FF
2021-08-14T02:17:09.025Z,1628907429.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:17:09.466Z,1628907429.466 [Micromodem](INFO): Nmea in: $SNTTA,0.072149,,,,021709.32*45

2021-08-14T02:17:09.509Z,1628907429.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.900009 m, bearing: 311.163748 deg, deltaT: 4.426840 s, approachRate: 0.542150 m/s, LOS rate: -0.619883 deg/s, posRepo size: 4
2021-08-14T02:17:11.954Z,1628907431.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:17:12.257Z,1628907432.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:17:12.257Z,1628907432.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:17:12.257Z,1628907432.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:17:12.258Z,1628907432.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:17:12.661Z,1628907432.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,00636,186,80,80,AF,FF
2021-08-14T02:17:12.661Z,1628907432.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:17:12.661Z,1628907432.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:17:12.663Z,1628907432.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:17:13.069Z,1628907433.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:17:13.465Z,1628907433.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,0066E,187,80,80,72,FF
2021-08-14T02:17:13.466Z,1628907433.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:17:13.885Z,1628907433.885 [Micromodem](INFO): Nmea in: $SNTTA,0.405357,0.405345,,,021713.76*5A

2021-08-14T02:17:13.942Z,1628907433.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.259998 m, bearing: 314.569553 deg, deltaT: 4.445406 s, approachRate: 0.755834 m/s, LOS rate: 0.766141 deg/s, posRepo size: 4
2021-08-14T02:17:16.335Z,1628907436.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:17:16.704Z,1628907436.704 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:17:16.705Z,1628907436.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:17:16.705Z,1628907436.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:17:16.707Z,1628907436.707 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:17:17.109Z,1628907437.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,0066E,187,80,80,72,FF
2021-08-14T02:17:17.109Z,1628907437.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:17:17.109Z,1628907437.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:17:17.111Z,1628907437.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:17:17.513Z,1628907437.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:17:18.342Z,1628907438.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021718.21*50

2021-08-14T02:17:19.162Z,1628907439.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:17:20.773Z,1628907440.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,091F0,186,80,80,A2,FF
2021-08-14T02:17:20.773Z,1628907440.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:17:21.194Z,1628907441.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2204.100098 m, bearing: 311.912965 deg, deltaT: 7.279972 s, approachRate: 294.347290 m/s, LOS rate: -0.364917 deg/s, posRepo size: 4
2021-08-14T02:17:21.195Z,1628907441.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2204.10 m. Resuming terminal guidance.
2021-08-14T02:17:21.195Z,1628907441.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T02:17:23.586Z,1628907443.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:17:23.988Z,1628907443.988 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:17:23.988Z,1628907443.988 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:17:23.988Z,1628907443.988 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:17:23.989Z,1628907443.989 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:17:24.385Z,1628907444.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F50,000,091F0,186,80,80,A2,FF
2021-08-14T02:17:24.385Z,1628907444.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:17:24.385Z,1628907444.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:17:24.387Z,1628907444.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:17:24.793Z,1628907444.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:17:25.629Z,1628907445.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021725.49*50

2021-08-14T02:17:26.414Z,1628907446.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:17:28.013Z,1628907448.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,A2,FF
2021-08-14T02:17:28.013Z,1628907448.013 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,A2,FF
2021-08-14T02:17:28.013Z,1628907448.013 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:17:29.262Z,1628907449.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:17:29.629Z,1628907449.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:17:29.629Z,1628907449.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:17:29.629Z,1628907449.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:17:29.630Z,1628907449.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:17:30.033Z,1628907450.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,A2,FF
2021-08-14T02:17:30.033Z,1628907450.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:17:30.034Z,1628907450.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:17:30.035Z,1628907450.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:17:30.448Z,1628907450.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:17:30.845Z,1628907450.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,0071E,184,80,80,61,FF
2021-08-14T02:17:30.846Z,1628907450.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:17:31.289Z,1628907451.289 [Micromodem](INFO): Nmea in: $SNTTA,0.082912,,,,021731.14*43

2021-08-14T02:17:31.340Z,1628907451.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.820000 m, bearing: 308.154011 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T02:17:31.341Z,1628907451.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 308.154011deg and heading rate command to 0 deg/s.
2021-08-14T02:17:33.754Z,1628907453.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:17:34.101Z,1628907454.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:17:34.101Z,1628907454.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:17:34.101Z,1628907454.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:17:34.102Z,1628907454.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:17:34.486Z,1628907454.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,0071E,184,80,80,61,FF
2021-08-14T02:17:34.486Z,1628907454.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:17:34.486Z,1628907454.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:17:34.488Z,1628907454.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:17:34.888Z,1628907454.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:17:35.750Z,1628907455.750 [Micromodem](INFO): Nmea in: $SNTTA,0.049394,,,,021735.59*4D

2021-08-14T02:17:36.501Z,1628907456.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,03636,186,80,80,8D,FF
2021-08-14T02:17:36.501Z,1628907456.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:17:36.965Z,1628907456.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 795.179993 m, bearing: 327.711274 deg, deltaT: 5.645801 s, approachRate: 128.123535 m/s, LOS rate: 3.464037 deg/s, posRepo size: 2
2021-08-14T02:17:36.967Z,1628907456.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 795.179993 m,
      bearing: 327.711274 deg,
      approachRate: 128.123535 m/s,
      LOS rate: 3.464037 deg/s,
      cmd update: 10.392111 deg/s,
      cmd heading: 308.154011 deg,
      new cmd heading: 308.154011 deg.

2021-08-14T02:17:39.353Z,1628907459.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:17:39.769Z,1628907459.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:17:39.769Z,1628907459.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:17:39.769Z,1628907459.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:17:39.770Z,1628907459.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:17:40.133Z,1628907460.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,03636,186,80,80,8D,FF
2021-08-14T02:17:40.133Z,1628907460.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:17:40.133Z,1628907460.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:17:40.135Z,1628907460.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:17:40.541Z,1628907460.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:17:40.949Z,1628907460.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7E,000,0078D,189,80,80,6A,FF
2021-08-14T02:17:40.949Z,1628907460.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:17:41.398Z,1628907461.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021741.23*5E

2021-08-14T02:17:41.419Z,1628907461.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.480003 m, bearing: 350.266526 deg, deltaT: 4.478222 s, approachRate: -160.041199 m/s, LOS rate: 5.036653 deg/s, posRepo size: 3
2021-08-14T02:17:41.421Z,1628907461.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.480003 m,
      bearing: 350.266526 deg,
      approachRate: -160.041199 m/s,
      LOS rate: 5.036653 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 354.691742 deg,
      new cmd heading: 359.088239 deg.

2021-08-14T02:17:43.837Z,1628907463.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:17:44.173Z,1628907464.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:17:44.173Z,1628907464.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:17:44.173Z,1628907464.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:17:44.174Z,1628907464.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:17:44.585Z,1628907464.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7E,000,0078D,189,80,80,6A,FF
2021-08-14T02:17:44.585Z,1628907464.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:17:44.585Z,1628907464.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:17:44.587Z,1628907464.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:17:44.989Z,1628907464.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:17:45.389Z,1628907465.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,007B7,187,80,80,84,FF
2021-08-14T02:17:45.389Z,1628907465.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:17:45.837Z,1628907465.837 [Micromodem](INFO): Nmea in: $SNTTA,0.056306,,,,021745.69*4C

2021-08-14T02:17:45.902Z,1628907465.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.000008 m, bearing: 349.893898 deg, deltaT: 4.409595 s, approachRate: 0.571482 m/s, LOS rate: -0.084504 deg/s, posRepo size: 4
2021-08-14T02:17:45.909Z,1628907465.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.000008 m,
      bearing: 349.893898 deg,
      approachRate: 0.571482 m/s,
      LOS rate: -0.084504 deg/s,
      cmd update: -0.253512 deg/s,
      cmd heading: 47.606908 deg,
      new cmd heading: 53.567440 deg.

2021-08-14T02:17:48.246Z,1628907468.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:17:48.617Z,1628907468.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:17:48.617Z,1628907468.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:17:48.617Z,1628907468.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:17:48.618Z,1628907468.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:17:49.025Z,1628907469.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,007B7,187,80,80,84,FF
2021-08-14T02:17:49.025Z,1628907469.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:17:49.025Z,1628907469.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:17:49.027Z,1628907469.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:17:49.432Z,1628907469.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:17:49.830Z,1628907469.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C82,000,007DA,188,80,80,7B,FF
2021-08-14T02:17:49.830Z,1628907469.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:17:49.833Z,1628907469.833 [Micromodem](INFO): Nmea in: $SNTTA,0.083826,0.223514,,,021750.13*59

2021-08-14T02:17:50.278Z,1628907470.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.099998 m, bearing: 41.375705 deg, deltaT: 4.525723 s, approachRate: 0.464012 m/s, LOS rate: 11.375376 deg/s, posRepo size: 4
2021-08-14T02:17:50.280Z,1628907470.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.099998 m,
      bearing: 41.375705 deg,
      approachRate: 0.464012 m/s,
      LOS rate: 11.375376 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 46.460593 deg,
      new cmd heading: 46.371785 deg.

2021-08-14T02:17:52.675Z,1628907472.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:17:53.061Z,1628907473.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:17:53.061Z,1628907473.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:17:53.061Z,1628907473.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:17:53.062Z,1628907473.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:17:53.501Z,1628907473.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C82,000,007DA,188,80,80,7B,FF
2021-08-14T02:17:53.501Z,1628907473.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:17:53.501Z,1628907473.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:17:53.503Z,1628907473.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:17:53.877Z,1628907473.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:17:54.273Z,1628907474.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,007F0,189,80,80,B5,FF
2021-08-14T02:17:54.274Z,1628907474.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:17:54.709Z,1628907474.709 [Micromodem](INFO): Nmea in: $SNTTA,0.055910,,,,021754.60*4B

2021-08-14T02:17:54.767Z,1628907474.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.420006 m, bearing: 52.833477 deg, deltaT: 4.358596 s, approachRate: 0.302851 m/s, LOS rate: 2.628776 deg/s, posRepo size: 4
2021-08-14T02:17:54.769Z,1628907474.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.420006 m,
      bearing: 52.833477 deg,
      approachRate: 0.302851 m/s,
      LOS rate: 2.628776 deg/s,
      cmd update: 7.886328 deg/s,
      cmd heading: 98.809071 deg,
      new cmd heading: 104.531643 deg.

2021-08-14T02:17:57.139Z,1628907477.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:17:57.505Z,1628907477.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:17:57.505Z,1628907477.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:17:57.505Z,1628907477.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:17:57.506Z,1628907477.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:17:57.909Z,1628907477.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,007F0,189,80,80,B5,FF
2021-08-14T02:17:57.909Z,1628907477.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:17:57.909Z,1628907477.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:17:57.911Z,1628907477.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:17:58.333Z,1628907478.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:17:58.728Z,1628907478.728 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF8,000,007FC,189,80,80,A1,FF
2021-08-14T02:17:58.730Z,1628907478.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:17:59.158Z,1628907479.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021759.01*57

2021-08-14T02:17:59.173Z,1628907479.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.139999 m, bearing: 76.756348 deg, deltaT: 4.508935 s, approachRate: 0.159682 m/s, LOS rate: 5.305659 deg/s, posRepo size: 4
2021-08-14T02:17:59.175Z,1628907479.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.139999 m,
      bearing: 76.756348 deg,
      approachRate: 0.159682 m/s,
      LOS rate: 5.305659 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 134.337883 deg,
      new cmd heading: 137.314570 deg.

2021-08-14T02:18:01.572Z,1628907481.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:18:01.949Z,1628907481.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:18:01.949Z,1628907481.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:18:01.949Z,1628907481.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:18:01.950Z,1628907481.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:18:02.362Z,1628907482.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF8,000,007FC,189,80,80,A1,FF
2021-08-14T02:18:02.362Z,1628907482.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:18:02.362Z,1628907482.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:18:02.363Z,1628907482.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:18:02.793Z,1628907482.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:18:03.161Z,1628907483.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,007FB,188,80,80,79,FF
2021-08-14T02:18:03.161Z,1628907483.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:18:03.602Z,1628907483.602 [Micromodem](INFO): Nmea in: $SNTTA,0.070980,,,,021803.46*4C

2021-08-14T02:18:03.617Z,1628907483.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.080002 m, bearing: 86.072528 deg, deltaT: 4.407557 s, approachRate: -0.013612 m/s, LOS rate: 2.113683 deg/s, posRepo size: 4
2021-08-14T02:18:03.619Z,1628907483.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.080002 m,
      bearing: 86.072528 deg,
      approachRate: -0.013612 m/s,
      LOS rate: 2.113683 deg/s,
      cmd update: 6.341050 deg/s,
      cmd heading: 187.228593 deg,
      new cmd heading: 192.202125 deg.

2021-08-14T02:18:06.047Z,1628907486.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:18:06.393Z,1628907486.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:18:06.393Z,1628907486.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:18:06.393Z,1628907486.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:18:06.394Z,1628907486.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:18:06.801Z,1628907486.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,007FB,188,80,80,79,FF
2021-08-14T02:18:06.801Z,1628907486.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:18:06.802Z,1628907486.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:18:06.803Z,1628907486.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:18:07.213Z,1628907487.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:18:07.609Z,1628907487.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007EC,189,80,80,A5,FF
2021-08-14T02:18:07.610Z,1628907487.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:18:08.057Z,1628907488.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021807.90*5B

2021-08-14T02:18:08.121Z,1628907488.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.180000 m, bearing: 143.733982 deg, deltaT: 4.423059 s, approachRate: -0.203479 m/s, LOS rate: 13.036556 deg/s, posRepo size: 4
2021-08-14T02:18:08.122Z,1628907488.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.036556 deg/s. Setting heading cmd to target bearing of 143.733982deg and heading rate command to 0 deg/s.
2021-08-14T02:18:10.482Z,1628907490.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:18:10.837Z,1628907490.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:18:10.837Z,1628907490.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:18:10.837Z,1628907490.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:18:10.838Z,1628907490.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:18:11.245Z,1628907491.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007EC,189,80,80,A5,FF
2021-08-14T02:18:11.245Z,1628907491.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:18:11.245Z,1628907491.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:18:11.247Z,1628907491.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:18:11.684Z,1628907491.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:18:12.058Z,1628907492.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCF,000,007D1,18A,80,80,96,FF
2021-08-14T02:18:12.058Z,1628907492.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:18:12.509Z,1628907492.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021812.35*50

2021-08-14T02:18:12.540Z,1628907492.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.560005 m, bearing: 139.100928 deg, deltaT: 4.449409 s, approachRate: -0.364092 m/s, LOS rate: -1.041274 deg/s, posRepo size: 4
2021-08-14T02:18:12.542Z,1628907492.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.560005 m,
      bearing: 139.100928 deg,
      approachRate: -0.364092 m/s,
      LOS rate: -1.041274 deg/s,
      cmd update: -3.123822 deg/s,
      cmd heading: 143.733982 deg,
      new cmd heading: 143.733982 deg.

2021-08-14T02:18:14.925Z,1628907494.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:18:15.293Z,1628907495.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:18:15.293Z,1628907495.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:18:15.294Z,1628907495.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:18:15.295Z,1628907495.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:18:15.734Z,1628907495.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCF,000,007D1,18A,80,80,96,FF
2021-08-14T02:18:15.735Z,1628907495.735 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:18:15.735Z,1628907495.735 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:18:15.737Z,1628907495.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:18:16.117Z,1628907496.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:18:16.507Z,1628907496.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E2,000,007AA,186,80,80,9B,FF
2021-08-14T02:18:16.507Z,1628907496.507 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:18:16.941Z,1628907496.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021816.84*5E

2021-08-14T02:18:16.983Z,1628907496.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.220001 m, bearing: 92.473214 deg, deltaT: 4.444201 s, approachRate: -0.526530 m/s, LOS rate: -10.491810 deg/s, posRepo size: 4
2021-08-14T02:18:16.989Z,1628907496.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.220001 m,
      bearing: 92.473214 deg,
      approachRate: -0.526530 m/s,
      LOS rate: -10.491810 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 129.851036 deg,
      new cmd heading: 128.414271 deg.

2021-08-14T02:18:19.383Z,1628907499.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:18:19.781Z,1628907499.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:18:19.781Z,1628907499.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:18:19.781Z,1628907499.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:18:19.782Z,1628907499.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:18:20.149Z,1628907500.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E2,000,007AA,186,80,80,9B,FF
2021-08-14T02:18:20.149Z,1628907500.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:18:20.149Z,1628907500.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:18:20.151Z,1628907500.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:18:20.542Z,1628907500.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:18:20.965Z,1628907500.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,00783,187,80,80,87,FF
2021-08-14T02:18:20.965Z,1628907500.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:18:21.393Z,1628907501.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021821.25*51

2021-08-14T02:18:21.424Z,1628907501.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.880005 m, bearing: 144.592701 deg, deltaT: 4.492824 s, approachRate: -0.520830 m/s, LOS rate: 11.600608 deg/s, posRepo size: 4
2021-08-14T02:18:21.425Z,1628907501.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.600608 deg/s. Setting heading cmd to target bearing of 144.592701deg and heading rate command to 0 deg/s.
2021-08-14T02:18:23.841Z,1628907503.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:18:24.197Z,1628907504.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:18:24.197Z,1628907504.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:18:24.197Z,1628907504.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:18:24.198Z,1628907504.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:18:24.593Z,1628907504.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,00783,187,80,80,87,FF
2021-08-14T02:18:24.593Z,1628907504.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:18:24.593Z,1628907504.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:18:24.594Z,1628907504.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:18:25.013Z,1628907505.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:18:25.394Z,1628907505.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8B,000,00758,189,80,80,75,FF
2021-08-14T02:18:25.394Z,1628907505.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:18:25.841Z,1628907505.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021825.69*5D

2021-08-14T02:18:25.898Z,1628907505.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.300003 m, bearing: 151.364696 deg, deltaT: 4.394555 s, approachRate: -0.587091 m/s, LOS rate: 1.540997 deg/s, posRepo size: 4
2021-08-14T02:18:25.916Z,1628907505.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.300003 m,
      bearing: 151.364696 deg,
      approachRate: -0.587091 m/s,
      LOS rate: 1.540997 deg/s,
      cmd update: 4.622991 deg/s,
      cmd heading: 144.592701 deg,
      new cmd heading: 144.592701 deg.

2021-08-14T02:18:28.270Z,1628907508.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:18:28.629Z,1628907508.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:18:28.629Z,1628907508.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:18:28.629Z,1628907508.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:18:28.630Z,1628907508.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:18:29.042Z,1628907509.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8B,000,00758,189,80,80,75,FF
2021-08-14T02:18:29.043Z,1628907509.043 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:18:29.043Z,1628907509.043 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:18:29.046Z,1628907509.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:18:29.440Z,1628907509.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:18:29.846Z,1628907509.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7B,000,0072A,189,80,80,5D,FF
2021-08-14T02:18:29.847Z,1628907509.847 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:18:29.852Z,1628907509.852 [Micromodem](INFO): Nmea in: $SNTTA,0.212525,0.212162,,,021830.15*55

2021-08-14T02:18:30.269Z,1628907510.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.540009 m, bearing: 153.765535 deg, deltaT: 4.542332 s, approachRate: -0.607616 m/s, LOS rate: 0.528548 deg/s, posRepo size: 4
2021-08-14T02:18:30.271Z,1628907510.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.540009 m,
      bearing: 153.765535 deg,
      approachRate: -0.607616 m/s,
      LOS rate: 0.528548 deg/s,
      cmd update: 1.585643 deg/s,
      cmd heading: 165.547711 deg,
      new cmd heading: 167.052355 deg.

2021-08-14T02:18:32.687Z,1628907512.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:18:33.082Z,1628907513.082 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:18:33.083Z,1628907513.083 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:18:33.083Z,1628907513.083 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:18:33.084Z,1628907513.084 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:18:33.477Z,1628907513.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7B,000,0072A,189,80,80,5D,FF
2021-08-14T02:18:33.477Z,1628907513.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:18:33.477Z,1628907513.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:18:33.478Z,1628907513.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:18:33.881Z,1628907513.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:18:34.286Z,1628907514.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,006FA,187,80,80,AA,FF
2021-08-14T02:18:34.286Z,1628907514.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:18:34.746Z,1628907514.746 [Micromodem](INFO): Nmea in: $SNTTA,0.075624,,,,021834.58*43

2021-08-14T02:18:34.779Z,1628907514.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.659996 m, bearing: 97.790284 deg, deltaT: 4.362527 s, approachRate: -0.660171 m/s, LOS rate: -12.830924 deg/s, posRepo size: 4
2021-08-14T02:18:34.780Z,1628907514.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.830924 deg/s. Setting heading cmd to target bearing of 97.790284deg and heading rate command to 0 deg/s.
2021-08-14T02:18:37.139Z,1628907517.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:18:37.521Z,1628907517.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:18:37.522Z,1628907517.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:18:37.522Z,1628907517.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:18:37.523Z,1628907517.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:18:37.917Z,1628907517.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,006FA,187,80,80,AA,FF
2021-08-14T02:18:37.917Z,1628907517.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:18:37.917Z,1628907517.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:18:37.919Z,1628907517.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:18:38.341Z,1628907518.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:18:38.754Z,1628907518.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,006CE,186,80,80,B8,FF
2021-08-14T02:18:38.755Z,1628907518.755 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:18:39.166Z,1628907519.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021839.02*5D

2021-08-14T02:18:39.181Z,1628907519.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.019997 m, bearing: 151.025714 deg, deltaT: 4.509946 s, approachRate: -0.585373 m/s, LOS rate: 11.804006 deg/s, posRepo size: 4
2021-08-14T02:18:39.182Z,1628907519.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.804006 deg/s. Setting heading cmd to target bearing of 151.025714deg and heading rate command to 0 deg/s.
2021-08-14T02:18:41.590Z,1628907521.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:18:41.969Z,1628907521.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:18:41.969Z,1628907521.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:18:41.969Z,1628907521.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:18:41.970Z,1628907521.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:18:42.381Z,1628907522.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,006CE,186,80,80,B8,FF
2021-08-14T02:18:42.381Z,1628907522.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:18:42.381Z,1628907522.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:18:42.383Z,1628907522.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:18:42.785Z,1628907522.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:18:43.177Z,1628907523.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,0069E,183,80,80,B6,FF
2021-08-14T02:18:43.178Z,1628907523.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:18:43.616Z,1628907523.616 [Micromodem](INFO): Nmea in: $SNTTA,0.042481,,,,021843.48*4B

2021-08-14T02:18:43.735Z,1628907523.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.139999 m, bearing: 148.455131 deg, deltaT: 4.389678 s, approachRate: -0.656084 m/s, LOS rate: -0.585597 deg/s, posRepo size: 4
2021-08-14T02:18:43.741Z,1628907523.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.139999 m,
      bearing: 148.455131 deg,
      approachRate: -0.656084 m/s,
      LOS rate: -0.585597 deg/s,
      cmd update: -1.756791 deg/s,
      cmd heading: 151.025714 deg,
      new cmd heading: 151.025714 deg.

2021-08-14T02:18:46.096Z,1628907526.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:18:46.401Z,1628907526.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:18:46.401Z,1628907526.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:18:46.401Z,1628907526.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:18:46.402Z,1628907526.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:18:46.809Z,1628907526.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,0069E,183,80,80,B6,FF
2021-08-14T02:18:46.809Z,1628907526.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:18:46.809Z,1628907526.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:18:46.811Z,1628907526.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:18:47.241Z,1628907527.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:18:47.653Z,1628907527.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,0066B,186,80,80,AF,FF
2021-08-14T02:18:47.654Z,1628907527.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:18:48.077Z,1628907528.077 [Micromodem](INFO): Nmea in: $SNTTA,0.046210,,,,021847.91*41

2021-08-14T02:18:48.141Z,1628907528.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.080002 m, bearing: 150.223126 deg, deltaT: 4.539811 s, approachRate: -0.674036 m/s, LOS rate: 0.389442 deg/s, posRepo size: 4
2021-08-14T02:18:48.143Z,1628907528.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.080002 m,
      bearing: 150.223126 deg,
      approachRate: -0.674036 m/s,
      LOS rate: 0.389442 deg/s,
      cmd update: 1.168327 deg/s,
      cmd heading: 143.057519 deg,
      new cmd heading: 142.373299 deg.

2021-08-14T02:18:50.490Z,1628907530.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:18:50.881Z,1628907530.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:18:50.881Z,1628907530.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:18:50.881Z,1628907530.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:18:50.882Z,1628907530.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:18:51.277Z,1628907531.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,0066B,186,80,80,AF,FF
2021-08-14T02:18:51.277Z,1628907531.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:18:51.277Z,1628907531.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:18:51.279Z,1628907531.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:18:51.763Z,1628907531.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:18:52.085Z,1628907532.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,0063A,184,80,80,77,FF
2021-08-14T02:18:52.085Z,1628907532.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:18:52.517Z,1628907532.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021852.38*59

2021-08-14T02:18:52.551Z,1628907532.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.139999 m, bearing: 147.915833 deg, deltaT: 4.346976 s, approachRate: -0.676333 m/s, LOS rate: -0.530781 deg/s, posRepo size: 4
2021-08-14T02:18:52.555Z,1628907532.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.139999 m,
      bearing: 147.915833 deg,
      approachRate: -0.676333 m/s,
      LOS rate: -0.530781 deg/s,
      cmd update: -1.592343 deg/s,
      cmd heading: 148.140834 deg,
      new cmd heading: 148.665561 deg.

2021-08-14T02:18:54.957Z,1628907534.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:18:55.319Z,1628907535.319 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:18:55.320Z,1628907535.320 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:18:55.320Z,1628907535.320 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:18:55.321Z,1628907535.321 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:18:55.781Z,1628907535.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,0063A,184,80,80,77,FF
2021-08-14T02:18:55.781Z,1628907535.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:18:55.781Z,1628907535.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:18:55.783Z,1628907535.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:18:56.159Z,1628907536.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:18:56.553Z,1628907536.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,00603,185,80,80,AE,FF
2021-08-14T02:18:56.553Z,1628907536.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:18:56.983Z,1628907536.983 [Micromodem](INFO): Nmea in: $SNTTA,0.051635,,,,021856.88*4C

2021-08-14T02:18:57.021Z,1628907537.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.840000 m, bearing: 148.403482 deg, deltaT: 4.502071 s, approachRate: -0.732996 m/s, LOS rate: 0.108316 deg/s, posRepo size: 4
2021-08-14T02:18:57.023Z,1628907537.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.840000 m,
      bearing: 148.403482 deg,
      approachRate: -0.732996 m/s,
      LOS rate: 0.108316 deg/s,
      cmd update: 0.324949 deg/s,
      cmd heading: 140.981207 deg,
      new cmd heading: 140.307654 deg.

2021-08-14T02:18:59.414Z,1628907539.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:18:59.785Z,1628907539.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:18:59.785Z,1628907539.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:18:59.785Z,1628907539.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:18:59.786Z,1628907539.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:19:00.189Z,1628907540.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,00603,185,80,80,AE,FF
2021-08-14T02:19:00.189Z,1628907540.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:19:00.189Z,1628907540.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:19:00.191Z,1628907540.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:19:00.594Z,1628907540.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:19:01.009Z,1628907541.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,005D1,183,80,80,C1,FF
2021-08-14T02:19:01.009Z,1628907541.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:19:01.442Z,1628907541.442 [Micromodem](INFO): Nmea in: $SNTTA,0.133127,,,,021901.29*45

2021-08-14T02:19:01.457Z,1628907541.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 150.156696 deg, deltaT: 4.451534 s, approachRate: -0.673924 m/s, LOS rate: 0.393845 deg/s, posRepo size: 4
2021-08-14T02:19:01.459Z,1628907541.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.840004 m,
      bearing: 150.156696 deg,
      approachRate: -0.673924 m/s,
      LOS rate: 0.393845 deg/s,
      cmd update: 1.181535 deg/s,
      cmd heading: 142.429655 deg,
      new cmd heading: 142.560226 deg.

2021-08-14T02:19:03.887Z,1628907543.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:19:04.229Z,1628907544.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:19:04.229Z,1628907544.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:19:04.229Z,1628907544.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:19:04.230Z,1628907544.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:19:04.630Z,1628907544.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,005D1,183,80,80,C1,FF
2021-08-14T02:19:04.630Z,1628907544.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:19:04.630Z,1628907544.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:19:04.631Z,1628907544.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:19:05.046Z,1628907545.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:19:05.446Z,1628907545.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,0059C,184,80,80,97,FF
2021-08-14T02:19:05.447Z,1628907545.447 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:19:05.882Z,1628907545.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.660000 m, bearing: 151.453038 deg, deltaT: 4.411721 s, approachRate: -0.720808 m/s, LOS rate: 0.293841 deg/s, posRepo size: 4
2021-08-14T02:19:05.883Z,1628907545.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.660000 m,
      bearing: 151.453038 deg,
      approachRate: -0.720808 m/s,
      LOS rate: 0.293841 deg/s,
      cmd update: 0.881522 deg/s,
      cmd heading: 147.642288 deg,
      new cmd heading: 148.131696 deg.

2021-08-14T02:19:08.321Z,1628907548.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:19:08.673Z,1628907548.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:19:08.673Z,1628907548.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:19:08.673Z,1628907548.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:19:08.674Z,1628907548.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:19:09.085Z,1628907549.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,0059C,184,80,80,97,FF
2021-08-14T02:19:09.085Z,1628907549.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:19:09.085Z,1628907549.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:19:09.087Z,1628907549.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:19:09.485Z,1628907549.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:19:09.885Z,1628907549.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00568,183,80,80,A7,FF
2021-08-14T02:19:09.886Z,1628907549.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:19:10.335Z,1628907550.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.540001 m, bearing: 152.505570 deg, deltaT: 4.506934 s, approachRate: -0.692266 m/s, LOS rate: 0.233536 deg/s, posRepo size: 4
2021-08-14T02:19:10.356Z,1628907550.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.540001 m,
      bearing: 152.505570 deg,
      approachRate: -0.692266 m/s,
      LOS rate: 0.233536 deg/s,
      cmd update: 0.700609 deg/s,
      cmd heading: 151.611692 deg,
      new cmd heading: 151.933155 deg.

2021-08-14T02:19:12.769Z,1628907552.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:19:13.121Z,1628907553.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:19:13.121Z,1628907553.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:19:13.121Z,1628907553.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:19:13.122Z,1628907553.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:19:13.564Z,1628907553.564 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00568,183,80,80,A7,FF
2021-08-14T02:19:13.564Z,1628907553.564 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:19:13.565Z,1628907553.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:19:13.566Z,1628907553.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:19:13.951Z,1628907553.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:19:14.337Z,1628907554.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,00533,186,80,80,85,FF
2021-08-14T02:19:14.338Z,1628907554.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:19:14.817Z,1628907554.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021914.67*50

2021-08-14T02:19:14.859Z,1628907554.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.360001 m, bearing: 151.440307 deg, deltaT: 4.379907 s, approachRate: -0.726043 m/s, LOS rate: -0.243216 deg/s, posRepo size: 4
2021-08-14T02:19:14.861Z,1628907554.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.360001 m,
      bearing: 151.440307 deg,
      approachRate: -0.726043 m/s,
      LOS rate: -0.243216 deg/s,
      cmd update: -0.729648 deg/s,
      cmd heading: 154.683089 deg,
      new cmd heading: 155.036542 deg.

2021-08-14T02:19:17.190Z,1628907557.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:19:17.561Z,1628907557.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:19:17.561Z,1628907557.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:19:17.561Z,1628907557.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:19:17.562Z,1628907557.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:19:17.965Z,1628907557.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,00533,186,80,80,85,FF
2021-08-14T02:19:17.965Z,1628907557.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:19:17.965Z,1628907557.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:19:17.967Z,1628907557.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:19:18.376Z,1628907558.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:19:18.775Z,1628907558.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,00502,186,80,80,81,FF
2021-08-14T02:19:18.775Z,1628907558.775 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:19:19.213Z,1628907559.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021919.07*5B

2021-08-14T02:19:19.247Z,1628907559.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.419998 m, bearing: 150.524392 deg, deltaT: 4.448072 s, approachRate: -0.660961 m/s, LOS rate: -0.205913 deg/s, posRepo size: 4
2021-08-14T02:19:19.247Z,1628907559.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.42 m.
2021-08-14T02:19:19.250Z,1628907559.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.419998 m,
      bearing: 150.524392 deg,
      approachRate: -0.660961 m/s,
      LOS rate: -0.205913 deg/s,
      cmd update: -0.617738 deg/s,
      cmd heading: 151.437529 deg,
      new cmd heading: 151.113074 deg.

2021-08-14T02:19:19.627Z,1628907559.627 [PowerOnly](INFO): Powering up loadControl
2021-08-14T02:19:19.741Z,1628907559.741 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:19:19.741Z,1628907559.741 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:19:19.742Z,1628907559.742 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:19:19.742Z,1628907559.742 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:19:19.742Z,1628907559.742 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:19:19.742Z,1628907559.742 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:19:20.072Z,1628907560.072 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:19:20.072Z,1628907560.072 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:19:20.072Z,1628907560.072 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:19:20.072Z,1628907560.072 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:19:21.619Z,1628907561.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:19:22.015Z,1628907562.015 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:19:22.015Z,1628907562.015 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:19:22.015Z,1628907562.015 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:19:22.016Z,1628907562.016 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:19:22.409Z,1628907562.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,00502,186,80,80,81,FF
2021-08-14T02:19:22.409Z,1628907562.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:19:22.409Z,1628907562.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:19:22.411Z,1628907562.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:19:22.829Z,1628907562.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:19:23.221Z,1628907563.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03E,000,004D5,184,80,80,72,FF
2021-08-14T02:19:23.221Z,1628907563.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:19:23.242Z,1628907563.242 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:19:23.691Z,1628907563.691 [Micromodem](INFO): Nmea in: $SNTTA,0.304064,,,,021923.52*49

2021-08-14T02:19:23.782Z,1628907563.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.719997 m, bearing: 152.965092 deg, deltaT: 4.436812 s, approachRate: -0.608545 m/s, LOS rate: 0.550102 deg/s, posRepo size: 4
2021-08-14T02:19:23.782Z,1628907563.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.72 m.
2021-08-14T02:19:23.785Z,1628907563.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.719997 m,
      bearing: 152.965092 deg,
      approachRate: -0.608545 m/s,
      LOS rate: 0.550102 deg/s,
      cmd update: 1.650306 deg/s,
      cmd heading: 148.697008 deg,
      new cmd heading: 148.361457 deg.

2021-08-14T02:19:25.746Z,1628907565.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:19:26.045Z,1628907566.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:19:26.045Z,1628907566.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:19:26.045Z,1628907566.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:19:26.046Z,1628907566.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:19:26.458Z,1628907566.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03E,000,004D5,184,80,80,72,FF
2021-08-14T02:19:26.458Z,1628907566.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:19:26.458Z,1628907566.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:19:26.459Z,1628907566.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:19:26.852Z,1628907566.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:19:27.262Z,1628907567.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,004A3,186,80,80,6C,FF
2021-08-14T02:19:27.262Z,1628907567.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:19:27.286Z,1628907567.286 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:19:27.801Z,1628907567.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021927.56*52

2021-08-14T02:19:27.896Z,1628907567.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.719997 m, bearing: 150.639877 deg, deltaT: 4.044596 s, approachRate: -0.741730 m/s, LOS rate: -0.574894 deg/s, posRepo size: 4
2021-08-14T02:19:27.896Z,1628907567.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.72 m.
2021-08-14T02:19:27.898Z,1628907567.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.719997 m,
      bearing: 150.639877 deg,
      approachRate: -0.741730 m/s,
      LOS rate: -0.574894 deg/s,
      cmd update: -1.724683 deg/s,
      cmd heading: 155.371783 deg,
      new cmd heading: 156.382497 deg.

2021-08-14T02:19:29.883Z,1628907569.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:19:30.085Z,1628907570.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:19:30.085Z,1628907570.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:19:30.085Z,1628907570.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:19:30.086Z,1628907570.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:19:30.494Z,1628907570.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,004A3,186,80,80,6C,FF
2021-08-14T02:19:30.494Z,1628907570.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:19:30.494Z,1628907570.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:19:30.496Z,1628907570.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:19:30.905Z,1628907570.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:19:31.302Z,1628907571.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B1,000,0047B,186,80,80,51,FF
2021-08-14T02:19:31.303Z,1628907571.303 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:19:31.361Z,1628907571.361 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:19:31.769Z,1628907571.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021931.60*50

2021-08-14T02:19:31.854Z,1628907571.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 149.268320 deg, deltaT: 4.074412 s, approachRate: -0.589041 m/s, LOS rate: -0.336627 deg/s, posRepo size: 4
2021-08-14T02:19:31.854Z,1628907571.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.32 m.
2021-08-14T02:19:31.861Z,1628907571.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.320002 m,
      bearing: 149.268320 deg,
      approachRate: -0.589041 m/s,
      LOS rate: -0.336627 deg/s,
      cmd update: -1.009881 deg/s,
      cmd heading: 148.395476 deg,
      new cmd heading: 147.488748 deg.

2021-08-14T02:19:34.154Z,1628907574.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:19:34.533Z,1628907574.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:19:34.533Z,1628907574.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:19:34.533Z,1628907574.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:19:34.534Z,1628907574.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:19:34.937Z,1628907574.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B1,000,0047B,186,80,80,51,FF
2021-08-14T02:19:34.937Z,1628907574.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:19:34.937Z,1628907574.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:19:34.939Z,1628907574.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:19:35.359Z,1628907575.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:19:35.773Z,1628907575.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,0044A,184,80,80,A2,FF
2021-08-14T02:19:35.773Z,1628907575.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:19:35.858Z,1628907575.858 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:19:36.190Z,1628907576.190 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021936.04*55

2021-08-14T02:19:36.206Z,1628907576.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.379997 m, bearing: 151.010537 deg, deltaT: 4.497006 s, approachRate: -0.653769 m/s, LOS rate: 0.387417 deg/s, posRepo size: 4
2021-08-14T02:19:36.206Z,1628907576.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.38 m.
2021-08-14T02:19:36.207Z,1628907576.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.38 m.
2021-08-14T02:19:36.207Z,1628907576.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T02:19:36.209Z,1628907576.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.379997 m,
      bearing: 151.010537 deg,
      approachRate: -0.653769 m/s,
      LOS rate: 0.387417 deg/s,
      cmd update: 1.162251 deg/s,
      cmd heading: 143.834266 deg,
      new cmd heading: 143.469693 deg.

2021-08-14T02:19:38.606Z,1628907578.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:19:38.979Z,1628907578.979 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:19:38.979Z,1628907578.979 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:19:38.979Z,1628907578.979 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:19:38.980Z,1628907578.980 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:19:39.381Z,1628907579.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,0044A,184,80,80,A2,FF
2021-08-14T02:19:39.381Z,1628907579.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:19:39.381Z,1628907579.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:19:39.383Z,1628907579.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:19:39.788Z,1628907579.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:19:40.192Z,1628907580.192 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,00423,183,80,80,68,FF
2021-08-14T02:19:40.192Z,1628907580.192 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:19:40.212Z,1628907580.212 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:19:40.621Z,1628907580.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021940.48*5C

2021-08-14T02:19:40.643Z,1628907580.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 151.650198 deg, deltaT: 4.354374 s, approachRate: -0.537390 m/s, LOS rate: 0.146901 deg/s, posRepo size: 4
2021-08-14T02:19:40.665Z,1628907580.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.039999 m,
      bearing: 151.650198 deg,
      approachRate: -0.537390 m/s,
      LOS rate: 0.146901 deg/s,
      cmd update: 0.440702 deg/s,
      cmd heading: 148.906271 deg,
      new cmd heading: 149.411268 deg.

2021-08-14T02:19:43.052Z,1628907583.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:19:43.417Z,1628907583.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:19:43.417Z,1628907583.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:19:43.417Z,1628907583.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:19:43.418Z,1628907583.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:19:43.829Z,1628907583.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,00423,183,80,80,68,FF
2021-08-14T02:19:43.829Z,1628907583.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:19:43.829Z,1628907583.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:19:43.831Z,1628907583.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:19:44.225Z,1628907584.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:19:44.633Z,1628907584.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,003EF,183,80,80,56,FF
2021-08-14T02:19:44.633Z,1628907584.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:19:44.658Z,1628907584.658 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:19:45.069Z,1628907585.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021944.93*5E

2021-08-14T02:19:45.113Z,1628907585.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 154.046297 deg, deltaT: 4.446135 s, approachRate: -0.701733 m/s, LOS rate: 0.538917 deg/s, posRepo size: 4
2021-08-14T02:19:45.115Z,1628907585.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.919998 m,
      bearing: 154.046297 deg,
      approachRate: -0.701733 m/s,
      LOS rate: 0.538917 deg/s,
      cmd update: 1.616752 deg/s,
      cmd heading: 150.863691 deg,
      new cmd heading: 151.067514 deg.

2021-08-14T02:19:47.479Z,1628907587.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:19:47.873Z,1628907587.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:19:47.873Z,1628907587.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:19:47.873Z,1628907587.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:19:47.874Z,1628907587.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:19:48.273Z,1628907588.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,003EF,183,80,80,56,FF
2021-08-14T02:19:48.273Z,1628907588.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:19:48.273Z,1628907588.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:19:48.275Z,1628907588.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:19:48.728Z,1628907588.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:19:49.078Z,1628907589.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,003C1,183,80,80,9A,FF
2021-08-14T02:19:49.078Z,1628907589.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:19:49.102Z,1628907589.102 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:19:49.521Z,1628907589.521 [Micromodem](INFO): Nmea in: $SNTTA,0.407243,,,,021949.38*4A

2021-08-14T02:19:49.558Z,1628907589.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.160000 m, bearing: 155.673958 deg, deltaT: 4.443953 s, approachRate: -0.621068 m/s, LOS rate: 0.366264 deg/s, posRepo size: 4
2021-08-14T02:19:49.560Z,1628907589.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 155.673958 deg,
      approachRate: -0.621068 m/s,
      LOS rate: 0.366264 deg/s,
      cmd update: 1.098793 deg/s,
      cmd heading: 158.056498 deg,
      new cmd heading: 158.798032 deg.

2021-08-14T02:19:51.973Z,1628907591.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:19:52.318Z,1628907592.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:19:52.318Z,1628907592.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:19:52.318Z,1628907592.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:19:52.319Z,1628907592.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:19:52.736Z,1628907592.736 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,003C1,183,80,80,9A,FF
2021-08-14T02:19:52.736Z,1628907592.736 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:19:52.737Z,1628907592.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:19:52.738Z,1628907592.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:19:53.116Z,1628907593.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:19:53.533Z,1628907593.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,003AB,186,80,80,9F,FF
2021-08-14T02:19:53.533Z,1628907593.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:19:53.595Z,1628907593.595 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:19:53.953Z,1628907593.953 [Micromodem](INFO): Nmea in: $SNTTA,0.027687,,,,021953.84*4C

2021-08-14T02:19:54.027Z,1628907594.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 151.418628 deg, deltaT: 4.497265 s, approachRate: -0.293512 m/s, LOS rate: -0.946204 deg/s, posRepo size: 4
2021-08-14T02:19:54.033Z,1628907594.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 151.418628 deg,
      approachRate: -0.293512 m/s,
      LOS rate: -0.946204 deg/s,
      cmd update: -2.838613 deg/s,
      cmd heading: 162.967038 deg,
      new cmd heading: 163.471359 deg.

2021-08-14T02:19:56.389Z,1628907596.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:19:56.777Z,1628907596.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:19:56.777Z,1628907596.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:19:56.777Z,1628907596.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:19:56.778Z,1628907596.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:19:57.161Z,1628907597.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,003AB,186,80,80,9F,FF
2021-08-14T02:19:57.161Z,1628907597.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:19:57.161Z,1628907597.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:19:57.163Z,1628907597.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:19:57.573Z,1628907597.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:19:57.965Z,1628907597.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D7,000,00377,186,80,80,56,FF
2021-08-14T02:19:57.966Z,1628907597.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:19:58.058Z,1628907598.058 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:19:58.413Z,1628907598.413 [Micromodem](INFO): Nmea in: $SNTTA,0.028985,,,,021958.27*4C

2021-08-14T02:19:58.448Z,1628907598.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 154.839692 deg, deltaT: 4.458627 s, approachRate: -0.699767 m/s, LOS rate: 0.767291 deg/s, posRepo size: 4
2021-08-14T02:19:58.450Z,1628907598.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 154.839692 deg,
      approachRate: -0.699767 m/s,
      LOS rate: 0.767291 deg/s,
      cmd update: 2.301873 deg/s,
      cmd heading: 150.231047 deg,
      new cmd heading: 149.115265 deg.

2021-08-14T02:20:00.030Z,1628907600.030 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:20:00.837Z,1628907600.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:01.197Z,1628907601.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:20:01.197Z,1628907601.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:20:01.197Z,1628907601.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:20:01.198Z,1628907601.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:20:01.617Z,1628907601.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D7,000,00377,186,80,80,56,FF
2021-08-14T02:20:01.617Z,1628907601.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:20:01.617Z,1628907601.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:20:01.619Z,1628907601.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:20:02.017Z,1628907602.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:20:02.435Z,1628907602.435 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,0033A,184,80,80,9E,FF
2021-08-14T02:20:02.436Z,1628907602.436 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:20:02.458Z,1628907602.458 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:20:02.842Z,1628907602.842 [Micromodem](INFO): Nmea in: $SNTTA,0.033540,,,,022002.72*46

2021-08-14T02:20:02.867Z,1628907602.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.059997 m, bearing: 157.825208 deg, deltaT: 4.400068 s, approachRate: -0.831806 m/s, LOS rate: 0.678516 deg/s, posRepo size: 4
2021-08-14T02:20:02.869Z,1628907602.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 157.825208 deg,
      approachRate: -0.831806 m/s,
      LOS rate: 0.678516 deg/s,
      cmd update: 2.035548 deg/s,
      cmd heading: 160.359784 deg,
      new cmd heading: 161.308556 deg.

2021-08-14T02:20:05.259Z,1628907605.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:05.653Z,1628907605.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:20:05.653Z,1628907605.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:20:05.654Z,1628907605.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:20:05.655Z,1628907605.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:20:06.045Z,1628907606.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,0033A,184,80,80,9E,FF
2021-08-14T02:20:06.045Z,1628907606.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:20:06.045Z,1628907606.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:20:06.047Z,1628907606.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:20:06.465Z,1628907606.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:20:06.853Z,1628907606.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E9,000,0030E,186,80,80,B1,FF
2021-08-14T02:20:06.853Z,1628907606.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:20:06.913Z,1628907606.913 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:20:07.302Z,1628907607.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022007.15*5D

2021-08-14T02:20:07.349Z,1628907607.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.419999 m, bearing: 153.372813 deg, deltaT: 4.454945 s, approachRate: -0.592599 m/s, LOS rate: -0.999428 deg/s, posRepo size: 4
2021-08-14T02:20:07.351Z,1628907607.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.419999 m,
      bearing: 153.372813 deg,
      approachRate: -0.592599 m/s,
      LOS rate: -0.999428 deg/s,
      cmd update: -2.998283 deg/s,
      cmd heading: 169.419935 deg,
      new cmd heading: 170.280233 deg.

2021-08-14T02:20:09.790Z,1628907609.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:10.089Z,1628907610.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:20:10.089Z,1628907610.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:20:10.089Z,1628907610.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:20:10.090Z,1628907610.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:20:10.495Z,1628907610.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E9,000,0030E,186,80,80,B1,FF
2021-08-14T02:20:10.495Z,1628907610.495 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:20:10.495Z,1628907610.495 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:20:10.498Z,1628907610.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:20:10.897Z,1628907610.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:20:11.302Z,1628907611.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19D,000,002E9,185,80,80,BF,FF
2021-08-14T02:20:11.303Z,1628907611.303 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:20:11.364Z,1628907611.364 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:20:11.819Z,1628907611.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.199999 m, bearing: 153.823633 deg, deltaT: 4.450857 s, approachRate: -0.498780 m/s, LOS rate: 0.101288 deg/s, posRepo size: 4
2021-08-14T02:20:11.845Z,1628907611.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.199999 m,
      bearing: 153.823633 deg,
      approachRate: -0.498780 m/s,
      LOS rate: 0.101288 deg/s,
      cmd update: 0.303865 deg/s,
      cmd heading: 156.093440 deg,
      new cmd heading: 154.691590 deg.

2021-08-14T02:20:13.865Z,1628907613.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:14.121Z,1628907614.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:20:14.121Z,1628907614.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:20:14.121Z,1628907614.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:20:14.122Z,1628907614.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:20:14.529Z,1628907614.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19D,000,002E9,185,80,80,BF,FF
2021-08-14T02:20:14.529Z,1628907614.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:20:14.529Z,1628907614.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:20:14.531Z,1628907614.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:20:14.936Z,1628907614.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:20:15.345Z,1628907615.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,002CF,184,80,80,65,FF
2021-08-14T02:20:15.346Z,1628907615.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:20:15.409Z,1628907615.409 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:20:15.798Z,1628907615.798 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022015.63*5F

2021-08-14T02:20:15.831Z,1628907615.831 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T02:20:15.872Z,1628907615.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 164.294764 deg, deltaT: 4.044797 s, approachRate: -0.385681 m/s, LOS rate: 2.588790 deg/s, posRepo size: 4
2021-08-14T02:20:15.874Z,1628907615.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 164.294764 deg,
      approachRate: -0.385681 m/s,
      LOS rate: 2.588790 deg/s,
      cmd update: 7.766371 deg/s,
      cmd heading: 157.314975 deg,
      new cmd heading: 157.466032 deg.

2021-08-14T02:20:18.183Z,1628907618.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:18.597Z,1628907618.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:20:18.597Z,1628907618.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:20:18.597Z,1628907618.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:20:18.598Z,1628907618.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:20:18.974Z,1628907618.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,002CF,184,80,80,65,FF
2021-08-14T02:20:18.974Z,1628907618.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:20:18.974Z,1628907618.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:20:18.975Z,1628907618.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:20:19.389Z,1628907619.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:20:19.781Z,1628907619.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05F,000,002CA,186,80,80,5E,FF
2021-08-14T02:20:19.781Z,1628907619.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:20:19.884Z,1628907619.884 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:20:20.239Z,1628907620.239 [Micromodem](INFO): Nmea in: $SNTTA,0.032481,,,,022020.08*46

2021-08-14T02:20:20.299Z,1628907620.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 151.242709 deg, deltaT: 4.475069 s, approachRate: -0.067038 m/s, LOS rate: -2.916615 deg/s, posRepo size: 4
2021-08-14T02:20:20.306Z,1628907620.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 151.242709 deg,
      approachRate: -0.067038 m/s,
      LOS rate: -2.916615 deg/s,
      cmd update: -8.749845 deg/s,
      cmd heading: 192.275363 deg,
      new cmd heading: 195.582524 deg.

2021-08-14T02:20:22.651Z,1628907622.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:23.015Z,1628907623.015 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:20:23.015Z,1628907623.015 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:20:23.016Z,1628907623.016 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:20:23.017Z,1628907623.017 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:20:23.422Z,1628907623.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05F,000,002CA,186,80,80,5E,FF
2021-08-14T02:20:23.422Z,1628907623.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:20:23.422Z,1628907623.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:20:23.424Z,1628907623.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:20:23.837Z,1628907623.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:20:24.225Z,1628907624.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,002DC,184,80,80,67,FF
2021-08-14T02:20:24.225Z,1628907624.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:20:24.266Z,1628907624.266 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:20:24.678Z,1628907624.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022024.53*5E

2021-08-14T02:20:24.742Z,1628907624.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.419999 m, bearing: 171.559093 deg, deltaT: 4.382410 s, approachRate: 0.246440 m/s, LOS rate: 4.635893 deg/s, posRepo size: 4
2021-08-14T02:20:24.749Z,1628907624.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.419999 m,
      bearing: 171.559093 deg,
      approachRate: 0.246440 m/s,
      LOS rate: 4.635893 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 154.032457 deg,
      new cmd heading: 149.661682 deg.

2021-08-14T02:20:27.110Z,1628907627.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:27.461Z,1628907627.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:20:27.461Z,1628907627.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:20:27.461Z,1628907627.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:20:27.462Z,1628907627.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:20:27.870Z,1628907627.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,002DC,184,80,80,67,FF
2021-08-14T02:20:27.870Z,1628907627.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:20:27.870Z,1628907627.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:20:27.872Z,1628907627.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:20:28.269Z,1628907628.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:20:28.678Z,1628907628.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,00300,186,80,80,5D,FF
2021-08-14T02:20:28.679Z,1628907628.679 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:20:28.738Z,1628907628.738 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:20:29.125Z,1628907629.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022028.97*5A

2021-08-14T02:20:29.181Z,1628907629.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.579998 m, bearing: 185.678092 deg, deltaT: 4.471759 s, approachRate: 0.483031 m/s, LOS rate: 3.157370 deg/s, posRepo size: 4
2021-08-14T02:20:29.189Z,1628907629.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 185.678092 deg,
      approachRate: 0.483031 m/s,
      LOS rate: 3.157370 deg/s,
      cmd update: 9.472111 deg/s,
      cmd heading: 207.566295 deg,
      new cmd heading: 213.228315 deg.

2021-08-14T02:20:31.535Z,1628907631.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:31.905Z,1628907631.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:20:31.905Z,1628907631.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:20:31.905Z,1628907631.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:20:31.906Z,1628907631.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:20:32.314Z,1628907632.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,00300,186,80,80,5D,FF
2021-08-14T02:20:32.314Z,1628907632.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:20:32.314Z,1628907632.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:20:32.317Z,1628907632.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:20:32.733Z,1628907632.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:20:33.118Z,1628907633.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,00338,186,80,80,44,FF
2021-08-14T02:20:33.118Z,1628907633.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:20:33.142Z,1628907633.142 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:20:33.581Z,1628907633.581 [Micromodem](INFO): Nmea in: $SNTTA,0.441395,,,,022033.42*48

2021-08-14T02:20:33.610Z,1628907633.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.940001 m, bearing: 174.453714 deg, deltaT: 4.404257 s, approachRate: 0.762899 m/s, LOS rate: -2.548529 deg/s, posRepo size: 4
2021-08-14T02:20:33.612Z,1628907633.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.940001 m,
      bearing: 174.453714 deg,
      approachRate: 0.762899 m/s,
      LOS rate: -2.548529 deg/s,
      cmd update: -7.645587 deg/s,
      cmd heading: 249.576233 deg,
      new cmd heading: 254.032634 deg.

2021-08-14T02:20:36.001Z,1628907636.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:36.349Z,1628907636.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:20:36.349Z,1628907636.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:20:36.349Z,1628907636.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:20:36.350Z,1628907636.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:20:36.769Z,1628907636.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,00338,186,80,80,44,FF
2021-08-14T02:20:36.769Z,1628907636.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:20:36.769Z,1628907636.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:20:36.771Z,1628907636.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:20:37.173Z,1628907637.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:20:37.986Z,1628907637.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022037.87*55

2021-08-14T02:20:38.812Z,1628907638.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:40.389Z,1628907640.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,44,FF
2021-08-14T02:20:40.389Z,1628907640.389 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,44,FF
2021-08-14T02:20:40.389Z,1628907640.389 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:20:41.628Z,1628907641.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:42.001Z,1628907642.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:20:42.001Z,1628907642.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:20:42.001Z,1628907642.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:20:42.002Z,1628907642.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:20:42.036Z,1628907642.036 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,44,FF
2021-08-14T02:20:42.036Z,1628907642.036 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:20:42.037Z,1628907642.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:20:42.038Z,1628907642.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:20:42.424Z,1628907642.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:20:42.821Z,1628907642.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,00383,187,80,80,83,FF
2021-08-14T02:20:42.821Z,1628907642.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:20:42.852Z,1628907642.852 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:20:43.249Z,1628907643.249 [Micromodem](INFO): Nmea in: $SNTTA,0.047241,,,,022043.14*46

2021-08-14T02:20:43.265Z,1628907643.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 226.527377 deg, deltaT: 9.709878 s, approachRate: 0.463445 m/s, LOS rate: 5.362957 deg/s, posRepo size: 4
2021-08-14T02:20:43.265Z,1628907643.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.44 m. Rolling out.
2021-08-14T02:20:43.266Z,1628907643.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T02:20:45.745Z,1628907645.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:46.058Z,1628907646.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:20:46.058Z,1628907646.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:20:46.058Z,1628907646.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:20:46.059Z,1628907646.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:20:46.457Z,1628907646.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,00383,187,80,80,83,FF
2021-08-14T02:20:46.457Z,1628907646.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:20:46.457Z,1628907646.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:20:46.459Z,1628907646.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:20:46.873Z,1628907646.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:20:47.265Z,1628907647.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,006D4,187,80,80,28,FF
2021-08-14T02:20:47.265Z,1628907647.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:20:47.338Z,1628907647.338 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:20:47.733Z,1628907647.733 [Micromodem](INFO): Nmea in: $SNTTA,0.064046,,,,022047.56*40

2021-08-14T02:20:47.825Z,1628907647.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.380005 m, bearing: 223.431511 deg, deltaT: 4.485966 s, approachRate: 11.355415 m/s, LOS rate: -0.690122 deg/s, posRepo size: 4
2021-08-14T02:20:48.130Z,1628907648.130 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:20:48.130Z,1628907648.130 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:20:48.130Z,1628907648.130 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:20:48.131Z,1628907648.131 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:20:48.131Z,1628907648.131 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:20:48.131Z,1628907648.131 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:20:48.509Z,1628907648.509 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:20:48.509Z,1628907648.509 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:20:48.509Z,1628907648.509 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:20:48.510Z,1628907648.510 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:20:50.124Z,1628907650.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:50.501Z,1628907650.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:20:50.501Z,1628907650.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:20:50.501Z,1628907650.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:20:50.502Z,1628907650.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:20:50.909Z,1628907650.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,006D4,187,80,80,28,FF
2021-08-14T02:20:50.909Z,1628907650.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:20:50.910Z,1628907650.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:20:50.911Z,1628907650.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:20:51.315Z,1628907651.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:20:51.766Z,1628907651.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7C,000,003D1,189,80,80,5E,FF
2021-08-14T02:20:51.766Z,1628907651.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:20:52.145Z,1628907652.145 [Micromodem](INFO): Nmea in: $SNTTA,0.030360,,,,022052.01*40

2021-08-14T02:20:52.163Z,1628907652.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 214.543222 deg, deltaT: 4.514998 s, approachRate: -10.245852 m/s, LOS rate: -1.968614 deg/s, posRepo size: 4
2021-08-14T02:20:52.552Z,1628907652.552 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:20:52.552Z,1628907652.552 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:20:52.552Z,1628907652.552 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:20:52.553Z,1628907652.553 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:20:52.553Z,1628907652.553 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:20:52.553Z,1628907652.553 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:20:52.977Z,1628907652.977 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:20:52.978Z,1628907652.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:20:52.978Z,1628907652.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:20:52.978Z,1628907652.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:20:54.164Z,1628907654.164 [PowerOnly](INFO): Powering down loadControl
2021-08-14T02:20:54.559Z,1628907654.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:54.945Z,1628907654.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:20:54.945Z,1628907654.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:20:54.946Z,1628907654.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:20:54.947Z,1628907654.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:20:55.354Z,1628907655.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7C,000,003D1,189,80,80,5E,FF
2021-08-14T02:20:55.354Z,1628907655.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:20:55.354Z,1628907655.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:20:55.355Z,1628907655.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:20:55.775Z,1628907655.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:20:56.153Z,1628907656.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,00407,186,80,80,62,FF
2021-08-14T02:20:56.154Z,1628907656.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:20:56.247Z,1628907656.247 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:20:56.585Z,1628907656.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022056.48*51

2021-08-14T02:20:56.615Z,1628907656.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.359999 m, bearing: 190.913486 deg, deltaT: 4.393945 s, approachRate: 0.737378 m/s, LOS rate: -5.377795 deg/s, posRepo size: 4
2021-08-14T02:20:59.026Z,1628907659.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:20:59.389Z,1628907659.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:20:59.389Z,1628907659.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:20:59.389Z,1628907659.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:20:59.390Z,1628907659.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:20:59.795Z,1628907659.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,00407,186,80,80,62,FF
2021-08-14T02:20:59.795Z,1628907659.795 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:20:59.795Z,1628907659.795 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:20:59.797Z,1628907659.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:21:00.220Z,1628907660.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:21:00.605Z,1628907660.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,00439,186,80,80,64,FF
2021-08-14T02:21:00.605Z,1628907660.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:21:00.625Z,1628907660.625 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:21:01.053Z,1628907661.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022100.90*56

2021-08-14T02:21:01.079Z,1628907661.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.359999 m, bearing: 201.397021 deg, deltaT: 4.378010 s, approachRate: 0.685243 m/s, LOS rate: 2.394589 deg/s, posRepo size: 4
2021-08-14T02:21:03.472Z,1628907663.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:03.829Z,1628907663.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:21:03.829Z,1628907663.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:21:03.829Z,1628907663.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:21:03.830Z,1628907663.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:21:04.241Z,1628907664.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,00439,186,80,80,64,FF
2021-08-14T02:21:04.241Z,1628907664.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:21:04.241Z,1628907664.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:21:04.243Z,1628907664.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:21:04.641Z,1628907664.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:21:05.470Z,1628907665.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022105.35*5C

2021-08-14T02:21:06.283Z,1628907666.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:07.869Z,1628907667.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,64,FF
2021-08-14T02:21:07.869Z,1628907667.869 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,64,FF
2021-08-14T02:21:07.869Z,1628907667.869 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:21:09.117Z,1628907669.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:09.482Z,1628907669.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:21:09.482Z,1628907669.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:21:09.482Z,1628907669.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:21:09.483Z,1628907669.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:21:09.893Z,1628907669.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,64,FF
2021-08-14T02:21:09.893Z,1628907669.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:21:09.893Z,1628907669.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:21:09.895Z,1628907669.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:21:10.310Z,1628907670.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:21:10.701Z,1628907670.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,00499,186,80,80,85,FF
2021-08-14T02:21:10.702Z,1628907670.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:21:10.783Z,1628907670.783 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:21:11.145Z,1628907671.145 [Micromodem](INFO): Nmea in: $SNTTA,0.035241,,,,022111.00*40

2021-08-14T02:21:11.167Z,1628907671.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.119999 m, bearing: 194.913477 deg, deltaT: 10.158089 s, approachRate: 0.567036 m/s, LOS rate: -0.638264 deg/s, posRepo size: 4
2021-08-14T02:21:13.547Z,1628907673.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:13.929Z,1628907673.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:21:13.929Z,1628907673.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:21:13.929Z,1628907673.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:21:13.930Z,1628907673.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:21:14.341Z,1628907674.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,00499,186,80,80,85,FF
2021-08-14T02:21:14.341Z,1628907674.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:21:14.341Z,1628907674.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:21:14.343Z,1628907674.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:21:14.776Z,1628907674.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:21:15.145Z,1628907675.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,004C9,186,80,80,66,FF
2021-08-14T02:21:15.145Z,1628907675.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:21:15.165Z,1628907675.165 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:21:15.583Z,1628907675.583 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022115.45*5A

2021-08-14T02:21:15.611Z,1628907675.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.999996 m, bearing: 196.423755 deg, deltaT: 4.381887 s, approachRate: 0.657250 m/s, LOS rate: 0.344664 deg/s, posRepo size: 4
2021-08-14T02:21:18.056Z,1628907678.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:18.377Z,1628907678.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:21:18.377Z,1628907678.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:21:18.377Z,1628907678.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:21:18.378Z,1628907678.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:21:18.781Z,1628907678.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,004C9,186,80,80,66,FF
2021-08-14T02:21:18.781Z,1628907678.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:21:18.781Z,1628907678.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:21:18.783Z,1628907678.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:21:19.193Z,1628907679.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:21:19.598Z,1628907679.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,004F5,186,80,80,4C,FF
2021-08-14T02:21:19.598Z,1628907679.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:21:19.627Z,1628907679.627 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:21:20.030Z,1628907680.030 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022119.89*56

2021-08-14T02:21:20.095Z,1628907680.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.639999 m, bearing: 200.089149 deg, deltaT: 4.461712 s, approachRate: 0.591702 m/s, LOS rate: 0.821522 deg/s, posRepo size: 4
2021-08-14T02:21:22.446Z,1628907682.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:22.829Z,1628907682.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:21:22.829Z,1628907682.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:21:22.829Z,1628907682.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:21:22.830Z,1628907682.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:21:23.221Z,1628907683.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,004F5,186,80,80,4C,FF
2021-08-14T02:21:23.221Z,1628907683.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:21:23.221Z,1628907683.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:21:23.223Z,1628907683.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:21:23.721Z,1628907683.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:21:24.462Z,1628907684.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022124.32*58

2021-08-14T02:21:25.284Z,1628907685.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:26.865Z,1628907686.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,4C,FF
2021-08-14T02:21:26.865Z,1628907686.865 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,4C,FF
2021-08-14T02:21:26.865Z,1628907686.865 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:21:28.094Z,1628907688.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:28.494Z,1628907688.494 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:21:28.494Z,1628907688.494 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:21:28.494Z,1628907688.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:21:28.495Z,1628907688.495 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:21:28.881Z,1628907688.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,4C,FF
2021-08-14T02:21:28.881Z,1628907688.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:21:28.881Z,1628907688.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:21:28.883Z,1628907688.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:21:29.310Z,1628907689.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:21:30.114Z,1628907690.114 [Micromodem](INFO): Nmea in: $SNTTA,,0.291565,,,022129.99*46

2021-08-14T02:21:30.954Z,1628907690.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:32.514Z,1628907692.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,4C,FF
2021-08-14T02:21:32.514Z,1628907692.514 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,4C,FF
2021-08-14T02:21:32.514Z,1628907692.514 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:21:33.822Z,1628907693.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:34.144Z,1628907694.144 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:21:34.144Z,1628907694.144 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:21:34.144Z,1628907694.144 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:21:34.145Z,1628907694.145 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:21:34.533Z,1628907694.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,4C,FF
2021-08-14T02:21:34.533Z,1628907694.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:21:34.533Z,1628907694.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:21:34.535Z,1628907694.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:21:34.952Z,1628907694.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:21:35.365Z,1628907695.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,005AB,186,80,80,7D,FF
2021-08-14T02:21:35.365Z,1628907695.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:21:35.385Z,1628907695.385 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:21:35.805Z,1628907695.805 [Micromodem](INFO): Nmea in: $SNTTA,0.039334,,,,022135.64*4B

2021-08-14T02:21:35.865Z,1628907695.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.560001 m, bearing: 198.773326 deg, deltaT: 15.757919 s, approachRate: 0.692985 m/s, LOS rate: -0.083502 deg/s, posRepo size: 4
2021-08-14T02:21:36.204Z,1628907696.204 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:21:36.205Z,1628907696.205 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:21:36.205Z,1628907696.205 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:21:36.206Z,1628907696.206 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:21:36.206Z,1628907696.206 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:21:36.206Z,1628907696.206 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:21:36.619Z,1628907696.619 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:21:36.619Z,1628907696.619 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:21:36.619Z,1628907696.619 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:21:36.619Z,1628907696.619 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:21:38.217Z,1628907698.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:38.573Z,1628907698.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:21:38.573Z,1628907698.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:21:38.574Z,1628907698.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:21:38.575Z,1628907698.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:21:38.978Z,1628907698.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,005AB,186,80,80,7D,FF
2021-08-14T02:21:38.979Z,1628907698.979 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:21:38.979Z,1628907698.979 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:21:38.984Z,1628907698.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:21:39.393Z,1628907699.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:21:39.795Z,1628907699.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,005D6,186,80,80,83,FF
2021-08-14T02:21:39.797Z,1628907699.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:21:39.802Z,1628907699.802 [Micromodem](INFO): Nmea in: $SNTTA,0.049882,0.242807,,,022140.09*56

2021-08-14T02:21:40.227Z,1628907700.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.139999 m, bearing: 194.294129 deg, deltaT: 4.521164 s, approachRate: 0.570649 m/s, LOS rate: -0.990718 deg/s, posRepo size: 4
2021-08-14T02:21:42.651Z,1628907702.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:43.025Z,1628907703.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:21:43.025Z,1628907703.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:21:43.025Z,1628907703.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:21:43.026Z,1628907703.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:21:43.426Z,1628907703.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,005D6,186,80,80,83,FF
2021-08-14T02:21:43.426Z,1628907703.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:21:43.426Z,1628907703.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:21:43.428Z,1628907703.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:21:43.837Z,1628907703.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:21:43.899Z,1628907703.899 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:21:44.233Z,1628907704.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,00608,185,80,80,7D,FF
2021-08-14T02:21:44.234Z,1628907704.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:21:44.663Z,1628907704.663 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022144.53*59

2021-08-14T02:21:44.731Z,1628907704.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.140003 m, bearing: 199.095793 deg, deltaT: 4.347240 s, approachRate: 0.690094 m/s, LOS rate: 1.104532 deg/s, posRepo size: 4
2021-08-14T02:21:47.097Z,1628907707.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:47.461Z,1628907707.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:21:47.461Z,1628907707.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:21:47.461Z,1628907707.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:21:47.462Z,1628907707.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:21:47.869Z,1628907707.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,00608,185,80,80,7D,FF
2021-08-14T02:21:47.869Z,1628907707.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:21:47.869Z,1628907707.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:21:47.871Z,1628907707.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:21:48.276Z,1628907708.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:21:48.693Z,1628907708.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,00639,186,80,80,7B,FF
2021-08-14T02:21:48.694Z,1628907708.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:21:49.117Z,1628907709.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022148.97*5D

2021-08-14T02:21:49.157Z,1628907709.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 198.909916 deg, deltaT: 4.517579 s, approachRate: 0.650792 m/s, LOS rate: -0.041145 deg/s, posRepo size: 4
2021-08-14T02:21:51.519Z,1628907711.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:51.913Z,1628907711.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:21:51.913Z,1628907711.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:21:51.913Z,1628907711.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:21:51.914Z,1628907711.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:21:52.320Z,1628907712.320 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,00639,186,80,80,7B,FF
2021-08-14T02:21:52.320Z,1628907712.320 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:21:52.320Z,1628907712.320 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:21:52.323Z,1628907712.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:21:52.734Z,1628907712.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:21:53.958Z,1628907713.958 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:21:54.350Z,1628907714.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:55.146Z,1628907715.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,06BC7,186,80,80,71,FF
2021-08-14T02:21:55.146Z,1628907715.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:21:55.575Z,1628907715.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1617.959961 m, bearing: 198.343243 deg, deltaT: 6.394991 s, approachRate: 243.922165 m/s, LOS rate: -0.088612 deg/s, posRepo size: 4
2021-08-14T02:21:55.576Z,1628907715.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1617.96 m. Resuming terminal guidance.
2021-08-14T02:21:55.577Z,1628907715.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T02:21:57.989Z,1628907717.989 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:21:58.030Z,1628907718.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:21:58.369Z,1628907718.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:21:58.369Z,1628907718.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:21:58.369Z,1628907718.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:21:58.370Z,1628907718.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:21:58.777Z,1628907718.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,06BC7,186,80,80,71,FF
2021-08-14T02:21:58.777Z,1628907718.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:21:58.778Z,1628907718.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:21:58.779Z,1628907718.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:21:59.180Z,1628907719.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:21:59.585Z,1628907719.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,006AD,186,80,80,6F,FF
2021-08-14T02:21:59.585Z,1628907719.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:22:00.025Z,1628907720.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022159.89*52

2021-08-14T02:22:00.083Z,1628907720.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.040001 m, bearing: 191.467988 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T02:22:00.100Z,1628907720.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 191.467988deg and heading rate command to 0 deg/s.
2021-08-14T02:22:02.431Z,1628907722.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:22:02.813Z,1628907722.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:22:02.813Z,1628907722.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:22:02.813Z,1628907722.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:22:02.814Z,1628907722.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:22:03.221Z,1628907723.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,006AD,186,80,80,6F,FF
2021-08-14T02:22:03.221Z,1628907723.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:22:03.221Z,1628907723.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:22:03.223Z,1628907723.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:22:03.686Z,1628907723.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:22:03.729Z,1628907723.729 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:22:04.040Z,1628907724.040 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,006DA,186,80,80,7E,FF
2021-08-14T02:22:04.041Z,1628907724.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:22:04.471Z,1628907724.471 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022204.33*58

2021-08-14T02:22:04.491Z,1628907724.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.740005 m, bearing: 198.004411 deg, deltaT: 4.455028 s, approachRate: 0.606058 m/s, LOS rate: 1.467201 deg/s, posRepo size: 2
2021-08-14T02:22:04.493Z,1628907724.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.740005 m,
      bearing: 198.004411 deg,
      approachRate: 0.606058 m/s,
      LOS rate: 1.467201 deg/s,
      cmd update: 4.401604 deg/s,
      cmd heading: 191.467988 deg,
      new cmd heading: 191.467988 deg.

2021-08-14T02:22:06.091Z,1628907726.091 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T02:22:06.898Z,1628907726.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:22:07.257Z,1628907727.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:22:07.257Z,1628907727.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:22:07.257Z,1628907727.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:22:07.258Z,1628907727.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:22:07.674Z,1628907727.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,006DA,186,80,80,7E,FF
2021-08-14T02:22:07.674Z,1628907727.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:22:07.675Z,1628907727.675 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:22:07.690Z,1628907727.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:22:07.798Z,1628907727.798 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-14T02:22:07.806Z,1628907727.806 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:22:08.092Z,1628907728.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:22:08.473Z,1628907728.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,0070F,186,80,80,57,FF
2021-08-14T02:22:08.473Z,1628907728.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:22:08.892Z,1628907728.892 [Micromodem](INFO): Nmea in: $SNTTA,0.053734,,,,022208.80*44

2021-08-14T02:22:08.942Z,1628907728.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.919998 m, bearing: 204.288868 deg, deltaT: 4.458015 s, approachRate: 0.713320 m/s, LOS rate: 1.409699 deg/s, posRepo size: 3
2021-08-14T02:22:08.948Z,1628907728.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.919998 m,
      bearing: 204.288868 deg,
      approachRate: 0.713320 m/s,
      LOS rate: 1.409699 deg/s,
      cmd update: 4.229096 deg/s,
      cmd heading: 211.002653 deg,
      new cmd heading: 212.969324 deg.

2021-08-14T02:22:11.335Z,1628907731.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:22:11.761Z,1628907731.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:22:11.761Z,1628907731.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:22:11.761Z,1628907731.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:22:11.762Z,1628907731.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:22:12.113Z,1628907732.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,0070F,186,80,80,57,FF
2021-08-14T02:22:12.113Z,1628907732.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:22:12.113Z,1628907732.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:22:12.115Z,1628907732.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:22:12.524Z,1628907732.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:22:12.925Z,1628907732.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,00733,186,80,80,5F,FF
2021-08-14T02:22:12.925Z,1628907732.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:22:13.361Z,1628907733.361 [Micromodem](INFO): Nmea in: $SNTTA,0.073136,,,,022213.22*40

2021-08-14T02:22:13.393Z,1628907733.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.080002 m, bearing: 233.221099 deg, deltaT: 4.469097 s, approachRate: 0.483320 m/s, LOS rate: 6.473842 deg/s, posRepo size: 4
2021-08-14T02:22:13.395Z,1628907733.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.080002 m,
      bearing: 233.221099 deg,
      approachRate: 0.483320 m/s,
      LOS rate: 6.473842 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 229.970371 deg,
      new cmd heading: 231.714970 deg.

2021-08-14T02:22:13.795Z,1628907733.795 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T02:22:15.829Z,1628907735.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:22:16.145Z,1628907736.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:22:16.145Z,1628907736.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:22:16.145Z,1628907736.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:22:16.146Z,1628907736.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:22:16.561Z,1628907736.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,00733,186,80,80,5F,FF
2021-08-14T02:22:16.561Z,1628907736.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:22:16.561Z,1628907736.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:22:16.563Z,1628907736.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:22:16.962Z,1628907736.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:22:17.370Z,1628907737.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,00751,187,80,80,68,FF
2021-08-14T02:22:17.370Z,1628907737.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:22:17.809Z,1628907737.809 [Micromodem](INFO): Nmea in: $SNTTA,0.062712,,,,022217.67*45

2021-08-14T02:22:17.874Z,1628907737.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.879997 m, bearing: 247.678915 deg, deltaT: 4.402627 s, approachRate: 0.408846 m/s, LOS rate: 3.283907 deg/s, posRepo size: 4
2021-08-14T02:22:17.876Z,1628907737.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.879997 m,
      bearing: 247.678915 deg,
      approachRate: 0.408846 m/s,
      LOS rate: 3.283907 deg/s,
      cmd update: 9.851720 deg/s,
      cmd heading: 282.847184 deg,
      new cmd heading: 288.696548 deg.

2021-08-14T02:22:20.214Z,1628907740.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:22:20.586Z,1628907740.586 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:22:20.586Z,1628907740.586 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:22:20.586Z,1628907740.586 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:22:20.589Z,1628907740.589 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:22:21.001Z,1628907741.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,00751,187,80,80,68,FF
2021-08-14T02:22:21.001Z,1628907741.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:22:21.001Z,1628907741.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:22:21.003Z,1628907741.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:22:21.410Z,1628907741.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:22:21.813Z,1628907741.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,00750,186,80,80,98,FF
2021-08-14T02:22:21.813Z,1628907741.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:22:22.235Z,1628907742.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.820000 m, bearing: 236.898937 deg, deltaT: 4.514069 s, approachRate: -0.013291 m/s, LOS rate: -2.388085 deg/s, posRepo size: 4
2021-08-14T02:22:22.238Z,1628907742.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.820000 m,
      bearing: 236.898937 deg,
      approachRate: -0.013291 m/s,
      LOS rate: -2.388085 deg/s,
      cmd update: -7.164254 deg/s,
      cmd heading: 327.122073 deg,
      new cmd heading: 330.617404 deg.

2021-08-14T02:22:23.848Z,1628907743.848 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T02:22:24.666Z,1628907744.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:22:25.033Z,1628907745.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:22:25.033Z,1628907745.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:22:25.033Z,1628907745.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:22:25.034Z,1628907745.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:22:25.437Z,1628907745.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,00750,186,80,80,98,FF
2021-08-14T02:22:25.437Z,1628907745.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:22:25.437Z,1628907745.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:22:25.439Z,1628907745.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:22:25.862Z,1628907745.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:22:26.249Z,1628907746.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D40,000,0074F,189,80,80,8C,FF
2021-08-14T02:22:26.249Z,1628907746.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:22:26.681Z,1628907746.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022226.54*59

2021-08-14T02:22:26.751Z,1628907746.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.760002 m, bearing: 317.580847 deg, deltaT: 4.364715 s, approachRate: -0.013746 m/s, LOS rate: 18.485034 deg/s, posRepo size: 4
2021-08-14T02:22:26.756Z,1628907746.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.485034 deg/s. Setting heading cmd to target bearing of 317.580847deg and heading rate command to 0 deg/s.
2021-08-14T02:22:29.115Z,1628907749.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:22:29.477Z,1628907749.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:22:29.477Z,1628907749.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:22:29.477Z,1628907749.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:22:29.478Z,1628907749.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:22:29.885Z,1628907749.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D40,000,0074F,189,80,80,8C,FF
2021-08-14T02:22:29.885Z,1628907749.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:22:29.885Z,1628907749.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:22:29.887Z,1628907749.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:22:30.285Z,1628907750.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:22:30.686Z,1628907750.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00741,189,80,80,8D,FF
2021-08-14T02:22:30.686Z,1628907750.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:22:31.137Z,1628907751.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.920006 m, bearing: 6.219932 deg, deltaT: 4.495288 s, approachRate: -0.186862 m/s, LOS rate: 10.820013 deg/s, posRepo size: 4
2021-08-14T02:22:31.139Z,1628907751.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.920006 m,
      bearing: 6.219932 deg,
      approachRate: -0.186862 m/s,
      LOS rate: 10.820013 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 317.580847 deg,
      new cmd heading: 317.580847 deg.

2021-08-14T02:22:33.538Z,1628907753.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:22:33.933Z,1628907753.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:22:33.933Z,1628907753.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:22:33.933Z,1628907753.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:22:33.934Z,1628907753.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:22:34.329Z,1628907754.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00741,189,80,80,8D,FF
2021-08-14T02:22:34.329Z,1628907754.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:22:34.329Z,1628907754.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:22:34.331Z,1628907754.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:22:34.761Z,1628907754.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:22:35.133Z,1628907755.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C45,000,00723,189,80,80,BD,FF
2021-08-14T02:22:35.134Z,1628907755.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:22:35.581Z,1628907755.581 [Micromodem](INFO): Nmea in: $SNTTA,0.057086,,,,022235.44*48

2021-08-14T02:22:35.732Z,1628907755.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.120010 m, bearing: 6.592139 deg, deltaT: 4.416625 s, approachRate: -0.407550 m/s, LOS rate: 0.084274 deg/s, posRepo size: 4
2021-08-14T02:22:35.734Z,1628907755.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.120010 m,
      bearing: 6.592139 deg,
      approachRate: -0.407550 m/s,
      LOS rate: 0.084274 deg/s,
      cmd update: 0.252822 deg/s,
      cmd heading: 10.679001 deg,
      new cmd heading: 17.150037 deg.

2021-08-14T02:22:37.750Z,1628907757.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:22:38.021Z,1628907758.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:22:38.021Z,1628907758.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:22:38.021Z,1628907758.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:22:38.022Z,1628907758.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:22:38.429Z,1628907758.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C45,000,00723,189,80,80,BD,FF
2021-08-14T02:22:38.429Z,1628907758.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:22:38.429Z,1628907758.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:22:38.431Z,1628907758.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:22:38.833Z,1628907758.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:22:39.225Z,1628907759.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D65,000,00701,18A,80,80,76,FF
2021-08-14T02:22:39.225Z,1628907759.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:22:39.694Z,1628907759.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022239.54*57

2021-08-14T02:22:39.786Z,1628907759.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.079994 m, bearing: 10.110502 deg, deltaT: 4.088548 s, approachRate: -0.498959 m/s, LOS rate: 0.860541 deg/s, posRepo size: 4
2021-08-14T02:22:39.789Z,1628907759.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.079994 m,
      bearing: 10.110502 deg,
      approachRate: -0.498959 m/s,
      LOS rate: 0.860541 deg/s,
      cmd update: 2.581623 deg/s,
      cmd heading: 11.711651 deg,
      new cmd heading: 11.844240 deg.

2021-08-14T02:22:41.804Z,1628907761.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:22:42.053Z,1628907762.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:22:42.053Z,1628907762.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:22:42.053Z,1628907762.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:22:42.054Z,1628907762.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:22:42.465Z,1628907762.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D65,000,00701,18A,80,80,76,FF
2021-08-14T02:22:42.465Z,1628907762.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:22:42.465Z,1628907762.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:22:42.467Z,1628907762.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:22:42.864Z,1628907762.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:22:43.778Z,1628907763.778 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022243.57*59

2021-08-14T02:22:43.793Z,1628907763.793 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T02:22:44.511Z,1628907764.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:22:45.761Z,1628907765.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,18A,80,80,76,FF
2021-08-14T02:22:45.761Z,1628907765.761 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,18A,80,80,76,FF
2021-08-14T02:22:45.761Z,1628907765.761 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:22:47.339Z,1628907767.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:22:47.765Z,1628907767.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:22:47.765Z,1628907767.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:22:47.765Z,1628907767.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:22:47.766Z,1628907767.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:22:48.113Z,1628907768.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,18A,80,80,76,FF
2021-08-14T02:22:48.113Z,1628907768.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:22:48.113Z,1628907768.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:22:48.115Z,1628907768.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:22:48.529Z,1628907768.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:22:48.921Z,1628907768.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,0069A,186,80,80,A5,FF
2021-08-14T02:22:48.921Z,1628907768.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:22:49.373Z,1628907769.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022249.22*51

2021-08-14T02:22:49.395Z,1628907769.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.899998 m, bearing: 15.217243 deg, deltaT: 9.704865 s, approachRate: -0.636794 m/s, LOS rate: 0.526204 deg/s, posRepo size: 4
2021-08-14T02:22:49.398Z,1628907769.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.899998 m,
      bearing: 15.217243 deg,
      approachRate: -0.636794 m/s,
      LOS rate: 0.526204 deg/s,
      cmd update: 1.578613 deg/s,
      cmd heading: 36.765067 deg,
      new cmd heading: 37.871837 deg.

2021-08-14T02:22:51.849Z,1628907771.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:22:52.153Z,1628907772.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:22:52.153Z,1628907772.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:22:52.153Z,1628907772.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:22:52.154Z,1628907772.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:22:52.563Z,1628907772.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,0069A,186,80,80,A5,FF
2021-08-14T02:22:52.563Z,1628907772.563 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:22:52.563Z,1628907772.563 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:22:52.565Z,1628907772.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:22:52.973Z,1628907772.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:22:53.369Z,1628907773.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,289,000,0066A,188,80,80,79,FF
2021-08-14T02:22:53.369Z,1628907773.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:22:53.834Z,1628907773.834 [Micromodem](INFO): Nmea in: $SNTTA,0.130669,,,,022253.67*4E

2021-08-14T02:22:53.853Z,1628907773.853 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:22:53.866Z,1628907773.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.019997 m, bearing: 6.908011 deg, deltaT: 4.415115 s, approachRate: -0.652305 m/s, LOS rate: -1.881997 deg/s, posRepo size: 4
2021-08-14T02:22:53.868Z,1628907773.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.019997 m,
      bearing: 6.908011 deg,
      approachRate: -0.652305 m/s,
      LOS rate: -1.881997 deg/s,
      cmd update: -5.645991 deg/s,
      cmd heading: 43.741813 deg,
      new cmd heading: 44.499254 deg.

2021-08-14T02:22:56.218Z,1628907776.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:22:56.593Z,1628907776.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:22:56.593Z,1628907776.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:22:56.593Z,1628907776.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:22:56.594Z,1628907776.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:22:57.013Z,1628907777.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
289,000,0066A,188,80,80,79,FF
2021-08-14T02:22:57.013Z,1628907777.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:22:57.013Z,1628907777.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:22:57.015Z,1628907777.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:22:57.417Z,1628907777.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:22:57.817Z,1628907777.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37C,000,00642,189,80,80,83,FF
2021-08-14T02:22:57.818Z,1628907777.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:22:58.253Z,1628907778.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022258.12*52

2021-08-14T02:22:58.276Z,1628907778.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.620003 m, bearing: 2.323223 deg, deltaT: 4.512886 s, approachRate: -0.531809 m/s, LOS rate: -1.015932 deg/s, posRepo size: 4
2021-08-14T02:22:58.278Z,1628907778.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.620003 m,
      bearing: 2.323223 deg,
      approachRate: -0.531809 m/s,
      LOS rate: -1.015932 deg/s,
      cmd update: -3.047797 deg/s,
      cmd heading: 18.262158 deg,
      new cmd heading: 16.136109 deg.

2021-08-14T02:23:00.666Z,1628907780.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:01.053Z,1628907781.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:23:01.053Z,1628907781.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:23:01.053Z,1628907781.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:23:01.054Z,1628907781.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:23:01.453Z,1628907781.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37C,000,00642,189,80,80,83,FF
2021-08-14T02:23:01.453Z,1628907781.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:23:01.453Z,1628907781.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:23:01.455Z,1628907781.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:23:01.868Z,1628907781.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:23:02.253Z,1628907782.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,0060B,189,80,80,8D,FF
2021-08-14T02:23:02.253Z,1628907782.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:23:02.725Z,1628907782.725 [Micromodem](INFO): Nmea in: $SNTTA,0.047027,,,,022302.56*44

2021-08-14T02:23:02.763Z,1628907782.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.320004 m, bearing: 6.647404 deg, deltaT: 4.408522 s, approachRate: -0.748550 m/s, LOS rate: 0.980869 deg/s, posRepo size: 4
2021-08-14T02:23:02.765Z,1628907782.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.320004 m,
      bearing: 6.647404 deg,
      approachRate: -0.748550 m/s,
      LOS rate: 0.980869 deg/s,
      cmd update: 2.942606 deg/s,
      cmd heading: 4.864888 deg,
      new cmd heading: 3.438269 deg.

2021-08-14T02:23:03.895Z,1628907783.895 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T02:23:05.137Z,1628907785.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:05.497Z,1628907785.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:23:05.497Z,1628907785.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:23:05.497Z,1628907785.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:23:05.498Z,1628907785.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:23:05.890Z,1628907785.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,0060B,189,80,80,8D,FF
2021-08-14T02:23:05.890Z,1628907785.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:23:05.890Z,1628907785.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:23:05.893Z,1628907785.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:23:06.299Z,1628907786.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:23:06.700Z,1628907786.700 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,005DD,184,80,80,6E,FF
2021-08-14T02:23:06.701Z,1628907786.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:23:07.142Z,1628907787.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022307.00*5A

2021-08-14T02:23:07.163Z,1628907787.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.559998 m, bearing: 14.948031 deg, deltaT: 4.481595 s, approachRate: -0.615853 m/s, LOS rate: 1.852159 deg/s, posRepo size: 4
2021-08-14T02:23:07.165Z,1628907787.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.559998 m,
      bearing: 14.948031 deg,
      approachRate: -0.615853 m/s,
      LOS rate: 1.852159 deg/s,
      cmd update: 5.556478 deg/s,
      cmd heading: 18.065739 deg,
      new cmd heading: 19.190833 deg.

2021-08-14T02:23:08.803Z,1628907788.803 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T02:23:09.543Z,1628907789.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:09.938Z,1628907789.938 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:23:09.938Z,1628907789.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:23:09.939Z,1628907789.939 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:23:09.939Z,1628907789.939 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:23:10.349Z,1628907790.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,005DD,184,80,80,6E,FF
2021-08-14T02:23:10.349Z,1628907790.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:23:10.349Z,1628907790.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:23:10.351Z,1628907790.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:23:10.840Z,1628907790.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:23:11.152Z,1628907791.152 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CF,000,005A2,186,80,80,64,FF
2021-08-14T02:23:11.152Z,1628907791.152 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:23:11.585Z,1628907791.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022311.45*5C

2021-08-14T02:23:11.655Z,1628907791.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.019997 m, bearing: 7.169303 deg, deltaT: 4.378994 s, approachRate: -0.808405 m/s, LOS rate: -1.776373 deg/s, posRepo size: 4
2021-08-14T02:23:11.682Z,1628907791.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.019997 m,
      bearing: 7.169303 deg,
      approachRate: -0.808405 m/s,
      LOS rate: -1.776373 deg/s,
      cmd update: -5.329120 deg/s,
      cmd heading: 42.443379 deg,
      new cmd heading: 45.106543 deg.

2021-08-14T02:23:12.831Z,1628907792.831 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T02:23:12.831Z,1628907792.831 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T02:23:12.848Z,1628907792.848 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T02:23:12.848Z,1628907792.848 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T02:23:12.848Z,1628907792.848 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T02:23:13.214Z,1628907793.214 [Micromodem](INFO): Sent 61 bytes from file Logs/20210814T003940/Courier0037.lzma.parts
2021-08-14T02:23:13.214Z,1628907793.214 [Micromodem](INFO): Packets left to send: 0
2021-08-14T02:23:14.058Z,1628907794.058 [Micromodem](INFO): Outgoing frame #1, 64 bytes: CC101761280000005D00000400320000000000000000151D80030C5669C08C7A97048B0B70A107E8B915C9BDD9C1E5146FA022A4FA4DBBABA1D4B14BEDFDF72C
2021-08-14T02:23:14.059Z,1628907794.059 [Micromodem](INFO): Outgoing frame #2, 7 bytes: CD8A9483754F00
2021-08-14T02:23:14.059Z,1628907794.059 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-14T02:23:14.075Z,1628907794.075 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:23:14.126Z,1628907794.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:14.265Z,1628907794.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:23:14.265Z,1628907794.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:23:14.265Z,1628907794.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:23:14.266Z,1628907794.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:23:14.272Z,1628907794.272 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-14T02:23:14.667Z,1628907794.667 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CF,000,005A2,186,80,80,64,FF
2021-08-14T02:23:14.667Z,1628907794.667 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:23:14.667Z,1628907794.667 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:23:14.672Z,1628907794.672 [Micromodem](INFO): Nmea in: $CADRQ,022315,1,10,0,64,1*71

2021-08-14T02:23:14.673Z,1628907794.673 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC101761280000005D00000400320000000000000000151D80030C5669C08C7A97048B0B70A107E8B915C9BDD9C1E5146FA022A4FA4DBBABA1D4B14BEDFDF72C*3C

2021-08-14T02:23:15.070Z,1628907795.070 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T02:23:15.070Z,1628907795.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:23:15.539Z,1628907795.539 [Micromodem](INFO): Nmea in: $CADRQ,022315,1,10,0,64,2*72

2021-08-14T02:23:15.539Z,1628907795.539 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,022315,1,10,0,64,2*72

2021-08-14T02:23:15.937Z,1628907795.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,0056D,189,80,80,6E,FF
2021-08-14T02:23:15.938Z,1628907795.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:23:15.943Z,1628907795.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:23:16.361Z,1628907796.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022316.18*53

2021-08-14T02:23:16.421Z,1628907796.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.840000 m, bearing: 1.666061 deg, deltaT: 4.881746 s, approachRate: -0.651406 m/s, LOS rate: -1.127310 deg/s, posRepo size: 4
2021-08-14T02:23:16.423Z,1628907796.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.840000 m,
      bearing: 1.666061 deg,
      approachRate: -0.651406 m/s,
      LOS rate: -1.127310 deg/s,
      cmd update: -3.381931 deg/s,
      cmd heading: 16.427594 deg,
      new cmd heading: 14.461655 deg.

2021-08-14T02:23:18.805Z,1628907798.805 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:23:18.821Z,1628907798.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:19.169Z,1628907799.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:23:19.169Z,1628907799.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:23:19.169Z,1628907799.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:23:19.170Z,1628907799.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:23:19.577Z,1628907799.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,0056D,189,80,80,6E,FF
2021-08-14T02:23:19.578Z,1628907799.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:23:19.578Z,1628907799.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:23:19.579Z,1628907799.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:23:19.948Z,1628907799.948 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T02:23:20.137Z,1628907800.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:23:20.537Z,1628907800.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,201,000,0053E,187,80,80,93,FF
2021-08-14T02:23:20.538Z,1628907800.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:23:20.949Z,1628907800.949 [Micromodem](INFO): Nmea in: $SNTTA,0.070236,,,,022320.69*4E

2021-08-14T02:23:21.012Z,1628907801.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.019997 m, bearing: 1.157174 deg, deltaT: 4.505051 s, approachRate: -0.625965 m/s, LOS rate: -0.112959 deg/s, posRepo size: 4
2021-08-14T02:23:21.014Z,1628907801.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.019997 m,
      bearing: 1.157174 deg,
      approachRate: -0.625965 m/s,
      LOS rate: -0.112959 deg/s,
      cmd update: -0.338877 deg/s,
      cmd heading: 1.192156 deg,
      new cmd heading: 359.647409 deg.

2021-08-14T02:23:23.086Z,1628907803.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:23.395Z,1628907803.395 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:23:23.395Z,1628907803.395 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:23:23.395Z,1628907803.395 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:23:23.396Z,1628907803.396 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:23:23.809Z,1628907803.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
201,000,0053E,187,80,80,93,FF
2021-08-14T02:23:23.809Z,1628907803.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:23:23.809Z,1628907803.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:23:23.811Z,1628907803.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:23:23.942Z,1628907803.942 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:23:24.208Z,1628907804.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:23:24.622Z,1628907804.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,0050E,186,80,80,A1,FF
2021-08-14T02:23:24.622Z,1628907804.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:23:25.073Z,1628907805.073 [Micromodem](INFO): Nmea in: $SNTTA,0.059450,,,,022324.92*43

2021-08-14T02:23:25.123Z,1628907805.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.139999 m, bearing: 6.008021 deg, deltaT: 4.121657 s, approachRate: -0.698747 m/s, LOS rate: 1.176917 deg/s, posRepo size: 4
2021-08-14T02:23:25.129Z,1628907805.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.139999 m,
      bearing: 6.008021 deg,
      approachRate: -0.698747 m/s,
      LOS rate: 1.176917 deg/s,
      cmd update: 3.530750 deg/s,
      cmd heading: 359.798648 deg,
      new cmd heading: 359.644029 deg.

2021-08-14T02:23:27.494Z,1628907807.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:27.862Z,1628907807.862 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:23:27.862Z,1628907807.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:23:27.862Z,1628907807.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:23:27.863Z,1628907807.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:23:28.241Z,1628907808.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,0050E,186,80,80,A1,FF
2021-08-14T02:23:28.242Z,1628907808.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:23:28.242Z,1628907808.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:23:28.243Z,1628907808.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:23:28.791Z,1628907808.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:23:29.139Z,1628907809.139 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,004DE,187,80,80,88,FF
2021-08-14T02:23:29.139Z,1628907809.139 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:23:29.549Z,1628907809.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022329.35*50

2021-08-14T02:23:29.598Z,1628907809.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.259998 m, bearing: 5.914245 deg, deltaT: 4.478900 s, approachRate: -0.643015 m/s, LOS rate: -0.020937 deg/s, posRepo size: 4
2021-08-14T02:23:29.598Z,1628907809.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.26 m.
2021-08-14T02:23:29.600Z,1628907809.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.259998 m,
      bearing: 5.914245 deg,
      approachRate: -0.643015 m/s,
      LOS rate: -0.020937 deg/s,
      cmd update: -0.062812 deg/s,
      cmd heading: 15.646023 deg,
      new cmd heading: 17.207593 deg.

2021-08-14T02:23:29.979Z,1628907809.979 [PowerOnly](INFO): Powering up loadControl
2021-08-14T02:23:30.053Z,1628907810.053 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:23:30.053Z,1628907810.053 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:23:30.053Z,1628907810.053 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:23:30.054Z,1628907810.054 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:23:30.054Z,1628907810.054 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:23:30.054Z,1628907810.054 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:23:30.421Z,1628907810.421 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:23:30.422Z,1628907810.422 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:23:30.422Z,1628907810.422 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:23:30.422Z,1628907810.422 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:23:31.689Z,1628907811.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:31.973Z,1628907811.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:23:31.973Z,1628907811.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:23:31.973Z,1628907811.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:23:31.974Z,1628907811.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:23:32.378Z,1628907812.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9A,000,004DE,187,80,80,88,FF
2021-08-14T02:23:32.378Z,1628907812.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:23:32.379Z,1628907812.379 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:23:32.384Z,1628907812.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:23:32.916Z,1628907812.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:23:33.314Z,1628907813.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,004AA,186,80,80,B1,FF
2021-08-14T02:23:33.315Z,1628907813.315 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:23:33.358Z,1628907813.358 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:23:33.797Z,1628907813.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022333.49*50

2021-08-14T02:23:33.888Z,1628907813.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.139996 m, bearing: 0.075814 deg, deltaT: 4.199824 s, approachRate: -0.742889 m/s, LOS rate: -1.390161 deg/s, posRepo size: 4
2021-08-14T02:23:33.889Z,1628907813.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.14 m.
2021-08-14T02:23:33.891Z,1628907813.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.139996 m,
      bearing: 0.075814 deg,
      approachRate: -0.742889 m/s,
      LOS rate: -1.390161 deg/s,
      cmd update: -4.170483 deg/s,
      cmd heading: 15.382506 deg,
      new cmd heading: 15.349773 deg.

2021-08-14T02:23:34.787Z,1628907814.787 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T02:23:35.923Z,1628907815.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:36.209Z,1628907816.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:23:36.210Z,1628907816.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:23:36.210Z,1628907816.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:23:36.211Z,1628907816.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:23:36.609Z,1628907816.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,004AA,186,80,80,B1,FF
2021-08-14T02:23:36.609Z,1628907816.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:23:36.609Z,1628907816.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:23:36.611Z,1628907816.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:23:37.020Z,1628907817.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:23:37.425Z,1628907817.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,00479,186,80,80,5E,FF
2021-08-14T02:23:37.426Z,1628907817.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:23:37.446Z,1628907817.446 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:23:37.865Z,1628907817.865 [Micromodem](INFO): Nmea in: $SNTTA,0.023542,,,,022337.72*40

2021-08-14T02:23:37.920Z,1628907817.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.200001 m, bearing: 352.477977 deg, deltaT: 4.088387 s, approachRate: -0.719109 m/s, LOS rate: -1.858395 deg/s, posRepo size: 4
2021-08-14T02:23:37.921Z,1628907817.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.20 m.
2021-08-14T02:23:37.923Z,1628907817.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.200001 m,
      bearing: 352.477977 deg,
      approachRate: -0.719109 m/s,
      LOS rate: -1.858395 deg/s,
      cmd update: -5.575185 deg/s,
      cmd heading: 358.314975 deg,
      new cmd heading: 356.326472 deg.

2021-08-14T02:23:40.323Z,1628907820.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:40.649Z,1628907820.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:23:40.649Z,1628907820.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:23:40.649Z,1628907820.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:23:40.650Z,1628907820.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:23:41.057Z,1628907821.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,00479,186,80,80,5E,FF
2021-08-14T02:23:41.057Z,1628907821.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:23:41.057Z,1628907821.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:23:41.059Z,1628907821.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:23:41.576Z,1628907821.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:23:41.965Z,1628907821.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,0044E,187,80,80,7E,FF
2021-08-14T02:23:41.966Z,1628907821.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:23:42.070Z,1628907822.070 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:23:42.395Z,1628907822.395 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022342.17*5D

2021-08-14T02:23:42.473Z,1628907822.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.620001 m, bearing: 354.415128 deg, deltaT: 4.623291 s, approachRate: -0.558044 m/s, LOS rate: 0.418998 deg/s, posRepo size: 4
2021-08-14T02:23:42.474Z,1628907822.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.62 m.
2021-08-14T02:23:42.480Z,1628907822.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.620001 m,
      bearing: 354.415128 deg,
      approachRate: -0.558044 m/s,
      LOS rate: 0.418998 deg/s,
      cmd update: 1.256995 deg/s,
      cmd heading: 332.539289 deg,
      new cmd heading: 330.296682 deg.

2021-08-14T02:23:44.062Z,1628907824.062 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T02:23:44.810Z,1628907824.810 [Micromodem](INFO): Nmea in: $CAERR,022345,DATA_TIMEOUT,2*4F

2021-08-14T02:23:44.902Z,1628907824.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:45.201Z,1628907825.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:23:45.201Z,1628907825.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:23:45.201Z,1628907825.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:23:45.202Z,1628907825.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:23:45.207Z,1628907825.207 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-14T02:23:45.601Z,1628907825.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,0044E,187,80,80,7E,FF
2021-08-14T02:23:45.601Z,1628907825.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:23:45.601Z,1628907825.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:23:45.603Z,1628907825.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:23:46.929Z,1628907826.929 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-14T02:23:46.929Z,1628907826.929 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-08-14T02:23:47.360Z,1628907827.360 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,022345.820360,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*5E

2021-08-14T02:23:47.360Z,1628907827.360 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,022345.820360,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*5E

2021-08-14T02:23:47.422Z,1628907827.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:50.191Z,1628907830.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:51.408Z,1628907831.408 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.205981
2021-08-14T02:23:53.049Z,1628907833.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:53.405Z,1628907833.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:23:53.405Z,1628907833.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:23:53.405Z,1628907833.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:23:53.406Z,1628907833.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:23:53.824Z,1628907833.824 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,0044E,187,80,80,7E,FF
2021-08-14T02:23:53.825Z,1628907833.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:23:53.825Z,1628907833.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:23:53.901Z,1628907833.901 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:23:55.917Z,1628907835.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:23:56.642Z,1628907836.642 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:23:57.055Z,1628907837.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:23:57.449Z,1628907837.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,003AA,186,80,80,52,FF
2021-08-14T02:23:57.450Z,1628907837.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:23:57.527Z,1628907837.527 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:23:57.897Z,1628907837.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022357.75*5D

2021-08-14T02:23:57.978Z,1628907837.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 356.458694 deg, deltaT: 15.457318 s, approachRate: -0.636592 m/s, LOS rate: 0.132207 deg/s, posRepo size: 4
2021-08-14T02:23:57.979Z,1628907837.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 18.78 m.
2021-08-14T02:23:57.979Z,1628907837.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 18.78 m.
2021-08-14T02:23:57.979Z,1628907837.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T02:23:57.982Z,1628907837.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.779997 m,
      bearing: 356.458694 deg,
      approachRate: -0.636592 m/s,
      LOS rate: 0.132207 deg/s,
      cmd update: 0.396621 deg/s,
      cmd heading: 351.961465 deg,
      new cmd heading: 352.540342 deg.

2021-08-14T02:24:00.029Z,1628907840.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:00.354Z,1628907840.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:24:00.354Z,1628907840.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:24:00.354Z,1628907840.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:24:00.355Z,1628907840.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:24:00.773Z,1628907840.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,003AA,186,80,80,52,FF
2021-08-14T02:24:00.773Z,1628907840.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:24:00.773Z,1628907840.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:24:00.775Z,1628907840.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:24:01.266Z,1628907841.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:24:01.661Z,1628907841.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,0038A,186,80,80,5A,FF
2021-08-14T02:24:01.662Z,1628907841.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:24:01.782Z,1628907841.782 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:24:02.073Z,1628907842.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022401.88*5B

2021-08-14T02:24:02.126Z,1628907842.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 353.510811 deg, deltaT: 4.255149 s, approachRate: -0.451217 m/s, LOS rate: -0.692780 deg/s, posRepo size: 4
2021-08-14T02:24:02.128Z,1628907842.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 353.510811 deg,
      approachRate: -0.451217 m/s,
      LOS rate: -0.692780 deg/s,
      cmd update: -2.078340 deg/s,
      cmd heading: 353.651616 deg,
      new cmd heading: 353.789183 deg.

2021-08-14T02:24:04.502Z,1628907844.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:04.881Z,1628907844.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:24:04.881Z,1628907844.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:24:04.881Z,1628907844.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:24:04.882Z,1628907844.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:24:05.294Z,1628907845.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,0038A,186,80,80,5A,FF
2021-08-14T02:24:05.294Z,1628907845.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:24:05.294Z,1628907845.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:24:05.297Z,1628907845.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:24:05.886Z,1628907845.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,0038A,186,80,80,5A,FF
2021-08-14T02:24:05.886Z,1628907845.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:24:05.913Z,1628907845.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:24:06.036Z,1628907846.036 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:24:06.348Z,1628907846.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 358.420980 deg, deltaT: 4.253966 s, approachRate: 0.000000 m/s, LOS rate: 1.154257 deg/s, posRepo size: 4
2021-08-14T02:24:06.350Z,1628907846.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 358.420980 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.154257 deg/s,
      cmd update: 3.462770 deg/s,
      cmd heading: 344.844016 deg,
      new cmd heading: 344.156852 deg.

2021-08-14T02:24:06.713Z,1628907846.713 [Micromodem](INFO): Nmea in: $SNTTA,0.028034,,,,022406.40*4B

2021-08-14T02:24:08.875Z,1628907848.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:09.161Z,1628907849.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:24:09.161Z,1628907849.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:24:09.161Z,1628907849.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:24:09.162Z,1628907849.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:24:09.561Z,1628907849.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,0038A,186,80,80,5A,FF
2021-08-14T02:24:09.561Z,1628907849.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:24:09.561Z,1628907849.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:24:09.563Z,1628907849.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:24:09.980Z,1628907849.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:24:10.806Z,1628907850.806 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022410.67*5A

2021-08-14T02:24:11.629Z,1628907851.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:13.193Z,1628907853.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,5A,FF
2021-08-14T02:24:13.194Z,1628907853.194 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,5A,FF
2021-08-14T02:24:13.194Z,1628907853.194 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:24:14.261Z,1628907854.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:14.489Z,1628907854.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:24:14.489Z,1628907854.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:24:14.489Z,1628907854.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:24:14.490Z,1628907854.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:24:14.886Z,1628907854.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,5A,FF
2021-08-14T02:24:14.886Z,1628907854.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:24:14.886Z,1628907854.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:24:14.889Z,1628907854.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:24:15.310Z,1628907855.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:24:15.753Z,1628907855.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DD,000,002E7,186,80,80,B9,FF
2021-08-14T02:24:15.754Z,1628907855.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:24:15.850Z,1628907855.850 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:24:16.134Z,1628907856.134 [Micromodem](INFO): Nmea in: $SNTTA,0.007337,,,,022416.00*43

2021-08-14T02:24:16.149Z,1628907856.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 346.991942 deg, deltaT: 9.814333 s, approachRate: -0.996502 m/s, LOS rate: -1.164525 deg/s, posRepo size: 4
2021-08-14T02:24:16.151Z,1628907856.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 346.991942 deg,
      approachRate: -0.996502 m/s,
      LOS rate: -1.164525 deg/s,
      cmd update: -3.493576 deg/s,
      cmd heading: 18.870376 deg,
      new cmd heading: 19.928616 deg.

2021-08-14T02:24:18.356Z,1628907858.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:18.525Z,1628907858.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:24:18.525Z,1628907858.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:24:18.525Z,1628907858.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:24:18.526Z,1628907858.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:24:18.930Z,1628907858.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DD,000,002E7,186,80,80,B9,FF
2021-08-14T02:24:18.931Z,1628907858.931 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:24:18.931Z,1628907858.931 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:24:18.935Z,1628907858.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:24:19.345Z,1628907859.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:24:19.360Z,1628907859.360 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T02:24:19.762Z,1628907859.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,002C9,189,80,80,8B,FF
2021-08-14T02:24:19.763Z,1628907859.763 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:24:19.962Z,1628907859.962 [Micromodem](INFO): Outgoing frame #1, 64 bytes: CC101761280000005D00000400320000000000000000151D80030C5669C08C7A97048B0B70A107E8B915C9BDD9C1E5146FA022A4FA4DBBABA1D4B14BEDFDF72C
2021-08-14T02:24:19.963Z,1628907859.963 [Micromodem](INFO): Outgoing frame #2, 7 bytes: CD8A9483754F00
2021-08-14T02:24:19.963Z,1628907859.963 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-14T02:24:20.109Z,1628907860.109 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:24:20.327Z,1628907860.327 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-14T02:24:20.547Z,1628907860.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.279998 m, bearing: 343.055567 deg, deltaT: 4.258746 s, approachRate: -0.422660 m/s, LOS rate: -0.924304 deg/s, posRepo size: 4
2021-08-14T02:24:20.549Z,1628907860.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 343.055567 deg,
      approachRate: -0.422660 m/s,
      LOS rate: -0.924304 deg/s,
      cmd update: -2.772911 deg/s,
      cmd heading: 4.045611 deg,
      new cmd heading: 2.436827 deg.

2021-08-14T02:24:20.785Z,1628907860.785 [Micromodem](INFO): Nmea in: $CADRQ,022420,1,10,0,64,1*70

2021-08-14T02:24:20.786Z,1628907860.786 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CC101761280000005D00000400320000000000000000151D80030C5669C08C7A97048B0B70A107E8B915C9BDD9C1E5146FA022A4FA4DBBABA1D4B14BEDFDF72C*3C

2021-08-14T02:24:21.145Z,1628907861.145 [Micromodem](INFO): Nmea in: $SNTTA,0.047256,,,,022420.04*40

2021-08-14T02:24:21.146Z,1628907861.146 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.047256,,,,022420.04*40

2021-08-14T02:24:22.350Z,1628907862.350 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T02:24:22.774Z,1628907862.774 [Micromodem](INFO): Nmea in: $CADRQ,022421,1,10,0,64,2*72

2021-08-14T02:24:22.775Z,1628907862.775 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,CD8A9483754F00*41

2021-08-14T02:24:22.862Z,1628907862.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:23.157Z,1628907863.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:24:23.157Z,1628907863.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:24:23.157Z,1628907863.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:24:23.158Z,1628907863.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:24:23.185Z,1628907863.185 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,7*7C

2021-08-14T02:24:23.561Z,1628907863.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,002C9,189,80,80,8B,FF
2021-08-14T02:24:23.561Z,1628907863.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:24:23.561Z,1628907863.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:24:23.563Z,1628907863.563 [Micromodem](INFO): Nmea in: $CATXP,71*74

2021-08-14T02:24:23.563Z,1628907863.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:24:25.735Z,1628907865.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:25.978Z,1628907865.978 [Micromodem](INFO): Nmea in: $CATXF,71*62

2021-08-14T02:24:25.978Z,1628907865.978 [Micromodem](ERROR): Response from modem unexpected: $CATXF,71*62

2021-08-14T02:24:26.393Z,1628907866.393 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,022423.860072,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*5A

2021-08-14T02:24:26.393Z,1628907866.393 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,022423.860072,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*5A

2021-08-14T02:24:28.405Z,1628907868.405 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T02:24:28.514Z,1628907868.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:28.830Z,1628907868.830 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-14T02:24:28.831Z,1628907868.831 [Micromodem](INFO): Sent 63 bytes from file Logs/20210814T003940/Courier0040.lzma.parts
2021-08-14T02:24:28.831Z,1628907868.831 [Micromodem](INFO): Packets left to send: 0
2021-08-14T02:24:29.224Z,1628907869.224 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.065898
2021-08-14T02:24:29.229Z,1628907869.229 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814022428.526116,06,32767,45,0106,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,23.7,5.49,12,-2.49,-01,0.67,50,14500,4000*6C

2021-08-14T02:24:29.229Z,1628907869.229 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814022428.526116,06,32767,45,0106,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,23.7,5.49,12,-2.49,-01,0.67,50,14500,4000*6C

2021-08-14T02:24:29.433Z,1628907869.433 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T02:24:29.433Z,1628907869.433 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T02:24:29.433Z,1628907869.433 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T02:24:29.433Z,1628907869.433 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T02:24:29.433Z,1628907869.433 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T02:24:31.602Z,1628907871.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:31.801Z,1628907871.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:24:31.801Z,1628907871.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:24:31.801Z,1628907871.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:24:31.802Z,1628907871.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:24:32.197Z,1628907872.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,002C9,189,80,80,8B,FF
2021-08-14T02:24:32.197Z,1628907872.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:24:32.197Z,1628907872.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:24:34.250Z,1628907874.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:34.622Z,1628907874.622 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:24:35.037Z,1628907875.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:24:35.433Z,1628907875.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,00329,185,80,80,37,FF
2021-08-14T02:24:35.434Z,1628907875.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:24:35.480Z,1628907875.480 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:24:35.877Z,1628907875.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022435.73*58

2021-08-14T02:24:35.946Z,1628907875.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.039997 m, bearing: 331.647075 deg, deltaT: 15.371333 s, approachRate: 0.374723 m/s, LOS rate: -0.742193 deg/s, posRepo size: 4
2021-08-14T02:24:35.948Z,1628907875.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.039997 m,
      bearing: 331.647075 deg,
      approachRate: 0.374723 m/s,
      LOS rate: -0.742193 deg/s,
      cmd update: -2.226578 deg/s,
      cmd heading: 321.370786 deg,
      new cmd heading: 320.070570 deg.

2021-08-14T02:24:38.311Z,1628907878.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:38.669Z,1628907878.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:24:38.669Z,1628907878.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:24:38.670Z,1628907878.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:24:38.671Z,1628907878.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:24:39.073Z,1628907879.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,00329,185,80,80,37,FF
2021-08-14T02:24:39.073Z,1628907879.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:24:39.073Z,1628907879.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:24:39.075Z,1628907879.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:24:39.480Z,1628907879.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:24:39.888Z,1628907879.888 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4CF,000,00347,18A,80,80,24,FF
2021-08-14T02:24:39.889Z,1628907879.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:24:39.976Z,1628907879.976 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:24:40.333Z,1628907880.333 [Micromodem](INFO): Nmea in: $SNTTA,0.034825,,,,022440.18*41

2021-08-14T02:24:40.383Z,1628907880.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.840000 m, bearing: 259.188904 deg, deltaT: 4.495925 s, approachRate: 0.400363 m/s, LOS rate: -16.116410 deg/s, posRepo size: 4
2021-08-14T02:24:40.383Z,1628907880.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.116410 deg/s. Setting heading cmd to target bearing of 259.188904deg and heading rate command to 0 deg/s.
2021-08-14T02:24:42.767Z,1628907882.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:43.123Z,1628907883.123 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:24:43.123Z,1628907883.123 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:24:43.123Z,1628907883.123 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:24:43.124Z,1628907883.124 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:24:43.517Z,1628907883.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4CF,000,00347,18A,80,80,24,FF
2021-08-14T02:24:43.517Z,1628907883.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:24:43.517Z,1628907883.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:24:43.519Z,1628907883.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:24:43.920Z,1628907883.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:24:43.972Z,1628907883.972 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T02:24:44.326Z,1628907884.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,0035D,186,80,80,21,FF
2021-08-14T02:24:44.326Z,1628907884.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:24:44.375Z,1628907884.375 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:24:44.782Z,1628907884.782 [Micromodem](INFO): Nmea in: $SNTTA,0.104094,,,,022444.63*49

2021-08-14T02:24:44.790Z,1628907884.790 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-14T02:24:44.807Z,1628907884.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.159999 m, bearing: 285.743942 deg, deltaT: 4.398593 s, approachRate: 0.300096 m/s, LOS rate: 6.037166 deg/s, posRepo size: 4
2021-08-14T02:24:44.810Z,1628907884.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 285.743942 deg,
      approachRate: 0.300096 m/s,
      LOS rate: 6.037166 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 259.188904 deg,
      new cmd heading: 259.188904 deg.

2021-08-14T02:24:47.175Z,1628907887.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:47.556Z,1628907887.556 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:24:47.556Z,1628907887.556 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:24:47.557Z,1628907887.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:24:47.558Z,1628907887.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:24:47.957Z,1628907887.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,0035D,186,80,80,21,FF
2021-08-14T02:24:47.957Z,1628907887.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:24:47.957Z,1628907887.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:24:47.959Z,1628907887.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:24:48.372Z,1628907888.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:24:48.769Z,1628907888.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23B,000,00384,18A,80,80,5C,FF
2021-08-14T02:24:48.769Z,1628907888.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:24:48.832Z,1628907888.832 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:24:49.205Z,1628907889.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022449.07*50

2021-08-14T02:24:49.239Z,1628907889.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.499996 m, bearing: 261.536768 deg, deltaT: 4.457185 s, approachRate: 0.524994 m/s, LOS rate: -5.431045 deg/s, posRepo size: 4
2021-08-14T02:24:49.240Z,1628907889.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.50 m. Rolling out.
2021-08-14T02:24:49.240Z,1628907889.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T02:24:51.622Z,1628907891.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:51.997Z,1628907891.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:24:51.997Z,1628907891.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:24:51.997Z,1628907891.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:24:51.998Z,1628907891.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:24:52.394Z,1628907892.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23B,000,00384,18A,80,80,5C,FF
2021-08-14T02:24:52.395Z,1628907892.395 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:24:52.395Z,1628907892.395 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:24:52.397Z,1628907892.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:24:52.809Z,1628907892.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:24:53.205Z,1628907893.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,0038D,185,80,80,AD,FF
2021-08-14T02:24:53.206Z,1628907893.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:24:53.226Z,1628907893.226 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:24:53.662Z,1628907893.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022453.50*59

2021-08-14T02:24:53.745Z,1628907893.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.039999 m, bearing: 258.013510 deg, deltaT: 4.393419 s, approachRate: 0.122912 m/s, LOS rate: -0.801940 deg/s, posRepo size: 4
2021-08-14T02:24:55.740Z,1628907895.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:24:56.033Z,1628907896.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:24:56.033Z,1628907896.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:24:56.033Z,1628907896.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:24:56.034Z,1628907896.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:24:56.437Z,1628907896.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,0038D,185,80,80,AD,FF
2021-08-14T02:24:56.437Z,1628907896.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:24:56.437Z,1628907896.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:24:56.439Z,1628907896.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:24:56.844Z,1628907896.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:24:57.245Z,1628907897.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,003A6,189,80,80,74,FF
2021-08-14T02:24:57.245Z,1628907897.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:24:57.290Z,1628907897.290 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:24:57.717Z,1628907897.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022457.54*59

2021-08-14T02:24:57.776Z,1628907897.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.540001 m, bearing: 254.978612 deg, deltaT: 4.064702 s, approachRate: 0.369031 m/s, LOS rate: -0.746647 deg/s, posRepo size: 4
2021-08-14T02:24:59.793Z,1628907899.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:25:00.133Z,1628907900.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:25:00.133Z,1628907900.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:25:00.133Z,1628907900.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:25:00.134Z,1628907900.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:25:00.533Z,1628907900.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,003A6,189,80,80,74,FF
2021-08-14T02:25:00.533Z,1628907900.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:25:00.533Z,1628907900.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:25:00.535Z,1628907900.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:25:00.945Z,1628907900.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:25:01.354Z,1628907901.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003CA,18A,80,80,27,FF
2021-08-14T02:25:01.354Z,1628907901.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:25:01.399Z,1628907901.399 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:25:01.793Z,1628907901.793 [Micromodem](INFO): Nmea in: $SNTTA,0.027075,,,,022501.64*41

2021-08-14T02:25:01.858Z,1628907901.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 241.016339 deg, deltaT: 4.108198 s, approachRate: 0.525778 m/s, LOS rate: -3.398637 deg/s, posRepo size: 4
2021-08-14T02:25:02.162Z,1628907902.162 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T02:25:04.207Z,1628907904.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:25:04.573Z,1628907904.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:25:04.573Z,1628907904.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:25:04.573Z,1628907904.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:25:04.574Z,1628907904.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:25:04.582Z,1628907904.582 [PowerOnly](INFO): Powering down loadControl
2021-08-14T02:25:04.985Z,1628907904.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003CA,18A,80,80,27,FF
2021-08-14T02:25:04.985Z,1628907904.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:25:04.985Z,1628907904.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:25:04.987Z,1628907904.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:25:05.400Z,1628907905.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:25:05.781Z,1628907905.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,225,000,003FC,188,80,80,48,FF
2021-08-14T02:25:05.782Z,1628907905.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:25:06.155Z,1628907906.155 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:25:06.405Z,1628907906.405 [Micromodem](INFO): Nmea in: $SNTTA,0.044985,,,,022506.09*4E

2021-08-14T02:25:06.427Z,1628907906.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.700001 m, bearing: 295.675228 deg, deltaT: 4.762820 s, approachRate: 0.629879 m/s, LOS rate: 11.476161 deg/s, posRepo size: 4
2021-08-14T02:25:08.869Z,1628907908.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:25:09.217Z,1628907909.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:25:09.217Z,1628907909.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:25:09.217Z,1628907909.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:25:09.218Z,1628907909.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:25:09.615Z,1628907909.615 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
225,000,003FC,188,80,80,48,FF
2021-08-14T02:25:09.647Z,1628907909.647 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:25:09.648Z,1628907909.648 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:25:09.654Z,1628907909.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:25:10.025Z,1628907910.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:25:10.421Z,1628907910.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,00437,187,80,80,44,FF
2021-08-14T02:25:10.422Z,1628907910.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:25:10.446Z,1628907910.446 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:25:10.855Z,1628907910.855 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022510.77*5A

2021-08-14T02:25:10.897Z,1628907910.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.239998 m, bearing: 332.034456 deg, deltaT: 4.285050 s, approachRate: 0.826127 m/s, LOS rate: 8.485135 deg/s, posRepo size: 4
2021-08-14T02:25:13.270Z,1628907913.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:25:13.673Z,1628907913.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:25:13.673Z,1628907913.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:25:13.674Z,1628907913.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:25:13.675Z,1628907913.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:25:14.057Z,1628907914.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,00437,187,80,80,44,FF
2021-08-14T02:25:14.057Z,1628907914.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:25:14.057Z,1628907914.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:25:14.059Z,1628907914.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:25:14.473Z,1628907914.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:25:14.869Z,1628907914.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31C,000,00463,189,80,80,61,FF
2021-08-14T02:25:14.869Z,1628907914.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:25:14.924Z,1628907914.924 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:25:15.310Z,1628907915.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022515.17*59

2021-08-14T02:25:15.344Z,1628907915.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.880001 m, bearing: 280.180124 deg, deltaT: 4.477675 s, approachRate: 0.589592 m/s, LOS rate: -11.580638 deg/s, posRepo size: 4
2021-08-14T02:25:17.838Z,1628907917.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:25:18.105Z,1628907918.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:25:18.105Z,1628907918.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:25:18.105Z,1628907918.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:25:18.106Z,1628907918.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:25:18.508Z,1628907918.508 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31C,000,00463,189,80,80,61,FF
2021-08-14T02:25:18.508Z,1628907918.508 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:25:18.508Z,1628907918.508 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:25:18.510Z,1628907918.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:25:18.908Z,1628907918.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:25:19.310Z,1628907919.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A4,000,0048E,189,80,80,31,FF
2021-08-14T02:25:19.310Z,1628907919.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:25:19.335Z,1628907919.335 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:25:19.781Z,1628907919.781 [Micromodem](INFO): Nmea in: $SNTTA,0.034932,,,,022519.62*46

2021-08-14T02:25:19.885Z,1628907919.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.460003 m, bearing: 271.339237 deg, deltaT: 4.411027 s, approachRate: 0.584898 m/s, LOS rate: -2.004270 deg/s, posRepo size: 4
2021-08-14T02:25:22.183Z,1628907922.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:25:22.545Z,1628907922.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:25:22.545Z,1628907922.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:25:22.545Z,1628907922.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:25:22.546Z,1628907922.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:25:22.945Z,1628907922.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A4,000,0048E,189,80,80,31,FF
2021-08-14T02:25:22.945Z,1628907922.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:25:22.945Z,1628907922.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:25:22.947Z,1628907922.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:25:23.385Z,1628907923.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:25:23.773Z,1628907923.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16E,000,004BF,185,80,80,4A,FF
2021-08-14T02:25:23.773Z,1628907923.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:25:23.929Z,1628907923.929 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:25:24.213Z,1628907924.213 [Micromodem](INFO): Nmea in: $SNTTA,0.050274,,,,022524.05*42

2021-08-14T02:25:24.235Z,1628907924.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.399998 m, bearing: 299.699412 deg, deltaT: 4.594028 s, approachRate: 0.639960 m/s, LOS rate: 6.173270 deg/s, posRepo size: 4
2021-08-14T02:25:26.618Z,1628907926.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:25:27.001Z,1628907927.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:25:27.001Z,1628907927.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:25:27.001Z,1628907927.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:25:27.002Z,1628907927.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:25:27.401Z,1628907927.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16E,000,004BF,185,80,80,4A,FF
2021-08-14T02:25:27.401Z,1628907927.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:25:27.401Z,1628907927.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:25:27.403Z,1628907927.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:25:27.809Z,1628907927.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:25:28.217Z,1628907928.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D6,000,004E8,189,80,80,3C,FF
2021-08-14T02:25:28.217Z,1628907928.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:25:28.237Z,1628907928.237 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:25:28.649Z,1628907928.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022528.51*55

2021-08-14T02:25:28.700Z,1628907928.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.859997 m, bearing: 282.359365 deg, deltaT: 4.307973 s, approachRate: 0.571034 m/s, LOS rate: -4.025106 deg/s, posRepo size: 4
2021-08-14T02:25:31.090Z,1628907931.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:25:31.445Z,1628907931.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:25:31.445Z,1628907931.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:25:31.445Z,1628907931.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:25:31.446Z,1628907931.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:25:31.855Z,1628907931.855 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D6,000,004E8,189,80,80,3C,FF
2021-08-14T02:25:31.855Z,1628907931.855 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:25:31.855Z,1628907931.855 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:25:31.857Z,1628907931.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:25:32.257Z,1628907932.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:25:32.653Z,1628907932.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,0051C,186,80,80,56,FF
2021-08-14T02:25:32.654Z,1628907932.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:25:32.677Z,1628907932.677 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:25:33.102Z,1628907933.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022532.96*55

2021-08-14T02:25:33.128Z,1628907933.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.980000 m, bearing: 333.897404 deg, deltaT: 4.440314 s, approachRate: 0.702654 m/s, LOS rate: 11.606845 deg/s, posRepo size: 4
2021-08-14T02:25:33.501Z,1628907933.501 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:25:33.501Z,1628907933.501 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:25:33.502Z,1628907933.502 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:25:33.506Z,1628907933.506 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:25:33.507Z,1628907933.507 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:25:33.507Z,1628907933.507 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:25:33.950Z,1628907933.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:25:33.950Z,1628907933.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:25:33.950Z,1628907933.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:25:33.950Z,1628907933.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:25:35.519Z,1628907935.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:25:35.885Z,1628907935.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:25:35.885Z,1628907935.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:25:35.885Z,1628907935.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:25:35.886Z,1628907935.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:25:36.290Z,1628907936.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,0051C,186,80,80,56,FF
2021-08-14T02:25:36.290Z,1628907936.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:25:36.290Z,1628907936.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:25:36.295Z,1628907936.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:25:36.729Z,1628907936.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:25:37.097Z,1628907937.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,0054E,189,80,80,66,FF
2021-08-14T02:25:37.097Z,1628907937.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:25:37.538Z,1628907937.538 [Micromodem](INFO): Nmea in: $SNTTA,0.041410,,,,022537.40*45

2021-08-14T02:25:37.553Z,1628907937.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.980000 m, bearing: 280.849346 deg, deltaT: 4.467235 s, approachRate: 0.671556 m/s, LOS rate: -11.874920 deg/s, posRepo size: 4
2021-08-14T02:25:40.005Z,1628907940.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:25:40.337Z,1628907940.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:25:40.337Z,1628907940.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:25:40.337Z,1628907940.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:25:40.338Z,1628907940.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:25:40.768Z,1628907940.768 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,0054E,189,80,80,66,FF
2021-08-14T02:25:40.769Z,1628907940.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:25:40.769Z,1628907940.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:25:40.770Z,1628907940.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:25:41.145Z,1628907941.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:25:41.545Z,1628907941.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,0057E,186,80,80,74,FF
2021-08-14T02:25:41.545Z,1628907941.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:25:41.971Z,1628907941.971 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022541.88*5E

2021-08-14T02:25:42.044Z,1628907942.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.860001 m, bearing: 340.532796 deg, deltaT: 4.456364 s, approachRate: 0.646267 m/s, LOS rate: 13.392858 deg/s, posRepo size: 4
2021-08-14T02:25:44.408Z,1628907944.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:25:44.773Z,1628907944.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:25:44.773Z,1628907944.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:25:44.773Z,1628907944.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:25:44.774Z,1628907944.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:25:45.186Z,1628907945.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,0057E,186,80,80,74,FF
2021-08-14T02:25:45.186Z,1628907945.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:25:45.186Z,1628907945.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:25:45.188Z,1628907945.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:25:45.582Z,1628907945.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:25:45.985Z,1628907945.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,005AF,186,80,80,73,FF
2021-08-14T02:25:45.986Z,1628907945.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:25:46.429Z,1628907946.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022546.29*52

2021-08-14T02:25:46.464Z,1628907946.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.800003 m, bearing: 337.308045 deg, deltaT: 4.457967 s, approachRate: 0.659494 m/s, LOS rate: -0.723368 deg/s, posRepo size: 4
2021-08-14T02:25:48.867Z,1628907948.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:25:49.217Z,1628907949.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:25:49.217Z,1628907949.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:25:49.217Z,1628907949.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:25:49.218Z,1628907949.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:25:49.627Z,1628907949.627 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,005AF,186,80,80,73,FF
2021-08-14T02:25:49.627Z,1628907949.627 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:25:49.627Z,1628907949.627 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:25:49.629Z,1628907949.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:25:50.036Z,1628907950.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:25:50.433Z,1628907950.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED6,000,005DE,186,80,80,59,FF
2021-08-14T02:25:50.433Z,1628907950.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:25:50.881Z,1628907950.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022550.74*5D

2021-08-14T02:25:50.911Z,1628907950.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.620003 m, bearing: 331.980826 deg, deltaT: 4.439457 s, approachRate: 0.635213 m/s, LOS rate: -1.199971 deg/s, posRepo size: 4
2021-08-14T02:25:53.283Z,1628907953.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:25:53.685Z,1628907953.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:25:53.686Z,1628907953.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:25:53.687Z,1628907953.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:25:53.699Z,1628907953.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:25:54.065Z,1628907954.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED6,000,005DE,186,80,80,59,FF
2021-08-14T02:25:54.065Z,1628907954.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:25:54.065Z,1628907954.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:25:54.067Z,1628907954.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:25:54.477Z,1628907954.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:25:54.874Z,1628907954.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,0060F,186,80,80,78,FF
2021-08-14T02:25:54.874Z,1628907954.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:25:55.322Z,1628907955.322 [Micromodem](INFO): Nmea in: $SNTTA,0.064093,,,,022555.17*4B

2021-08-14T02:25:55.350Z,1628907955.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.560005 m, bearing: 341.537654 deg, deltaT: 4.405388 s, approachRate: 0.667365 m/s, LOS rate: 2.169350 deg/s, posRepo size: 4
2021-08-14T02:25:57.814Z,1628907957.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:25:58.105Z,1628907958.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:25:58.105Z,1628907958.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:25:58.105Z,1628907958.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:25:58.106Z,1628907958.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:25:58.514Z,1628907958.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,0060F,186,80,80,78,FF
2021-08-14T02:25:58.515Z,1628907958.515 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:25:58.515Z,1628907958.515 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:25:58.516Z,1628907958.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:25:58.916Z,1628907958.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:25:59.318Z,1628907959.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,0063D,186,80,80,76,FF
2021-08-14T02:25:59.318Z,1628907959.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:25:59.778Z,1628907959.778 [Micromodem](INFO): Nmea in: $SNTTA,,0.049535,,,022559.63*42

2021-08-14T02:25:59.857Z,1628907959.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.319996 m, bearing: 339.917369 deg, deltaT: 4.435610 s, approachRate: 0.622235 m/s, LOS rate: -0.365290 deg/s, posRepo size: 4
2021-08-14T02:26:01.843Z,1628907961.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:02.145Z,1628907962.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:26:02.145Z,1628907962.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:26:02.145Z,1628907962.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:26:02.146Z,1628907962.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:26:02.549Z,1628907962.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,0063D,186,80,80,76,FF
2021-08-14T02:26:02.549Z,1628907962.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:26:02.549Z,1628907962.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:26:02.551Z,1628907962.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:26:02.960Z,1628907962.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:26:03.361Z,1628907963.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,0066B,186,80,80,8A,FF
2021-08-14T02:26:03.362Z,1628907963.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:26:03.811Z,1628907963.811 [Micromodem](INFO): Nmea in: $SNTTA,0.047608,,,,022603.66*48

2021-08-14T02:26:03.899Z,1628907963.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.080002 m, bearing: 338.793338 deg, deltaT: 4.041564 s, approachRate: 0.682905 m/s, LOS rate: -0.278118 deg/s, posRepo size: 4
2021-08-14T02:26:06.225Z,1628907966.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:06.598Z,1628907966.598 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:26:06.599Z,1628907966.599 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:26:06.599Z,1628907966.599 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:26:06.600Z,1628907966.600 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:26:07.005Z,1628907967.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,0066B,186,80,80,8A,FF
2021-08-14T02:26:07.005Z,1628907967.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:26:07.005Z,1628907967.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:26:07.007Z,1628907967.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:26:07.401Z,1628907967.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:26:07.813Z,1628907967.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EA,000,0069F,189,80,80,62,FF
2021-08-14T02:26:07.814Z,1628907967.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:26:08.233Z,1628907968.233 [Micromodem](INFO): Nmea in: $SNTTA,0.048881,,,,022608.12*40

2021-08-14T02:26:08.267Z,1628907968.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.200005 m, bearing: 279.850745 deg, deltaT: 4.516796 s, approachRate: 0.690756 m/s, LOS rate: -13.049647 deg/s, posRepo size: 4
2021-08-14T02:26:10.662Z,1628907970.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:11.049Z,1628907971.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:26:11.049Z,1628907971.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:26:11.049Z,1628907971.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:26:11.050Z,1628907971.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:26:11.441Z,1628907971.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EA,000,0069F,189,80,80,62,FF
2021-08-14T02:26:11.441Z,1628907971.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:26:11.441Z,1628907971.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:26:11.443Z,1628907971.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:26:11.865Z,1628907971.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:26:12.704Z,1628907972.704 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,284,000,012E8,189,80,80,5F,FF
2021-08-14T02:26:12.706Z,1628907972.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:26:12.718Z,1628907972.718 [Micromodem](INFO): Nmea in: $SNTTA,0.069843,,,,022612.55*45

2021-08-14T02:26:13.091Z,1628907973.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.899994 m, bearing: 285.360577 deg, deltaT: 4.885072 s, approachRate: 38.627880 m/s, LOS rate: 1.127892 deg/s, posRepo size: 4
2021-08-14T02:26:13.092Z,1628907973.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 252.90 m. Resuming terminal guidance.
2021-08-14T02:26:13.092Z,1628907973.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T02:26:15.499Z,1628907975.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:15.897Z,1628907975.898 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:26:15.898Z,1628907975.898 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:26:15.898Z,1628907975.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:26:15.899Z,1628907975.899 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:26:15.959Z,1628907975.959 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:26:16.294Z,1628907976.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
284,000,012E8,189,80,80,5F,FF
2021-08-14T02:26:16.294Z,1628907976.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:26:16.294Z,1628907976.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:26:16.297Z,1628907976.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:26:16.730Z,1628907976.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:26:17.097Z,1628907977.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,00702,187,80,80,81,FF
2021-08-14T02:26:17.097Z,1628907977.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:26:17.553Z,1628907977.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022617.40*5A

2021-08-14T02:26:17.575Z,1628907977.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.139999 m, bearing: 340.536594 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T02:26:17.576Z,1628907977.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 340.536594deg and heading rate command to 0 deg/s.
2021-08-14T02:26:20.004Z,1628907980.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:20.333Z,1628907980.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:26:20.333Z,1628907980.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:26:20.333Z,1628907980.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:26:20.334Z,1628907980.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:26:20.773Z,1628907980.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E37,000,00702,187,80,80,81,FF
2021-08-14T02:26:20.773Z,1628907980.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:26:20.774Z,1628907980.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:26:20.775Z,1628907980.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:26:21.137Z,1628907981.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:26:21.538Z,1628907981.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,00733,187,80,80,5B,FF
2021-08-14T02:26:21.538Z,1628907981.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:26:21.963Z,1628907981.963 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022621.88*5B

2021-08-14T02:26:22.026Z,1628907982.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.080002 m, bearing: 342.984096 deg, deltaT: 4.480284 s, approachRate: 0.656209 m/s, LOS rate: 0.546283 deg/s, posRepo size: 2
2021-08-14T02:26:22.029Z,1628907982.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.080002 m,
      bearing: 342.984096 deg,
      approachRate: 0.656209 m/s,
      LOS rate: 0.546283 deg/s,
      cmd update: 1.638849 deg/s,
      cmd heading: 340.536594 deg,
      new cmd heading: 340.536594 deg.

2021-08-14T02:26:24.008Z,1628907984.008 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T02:26:24.394Z,1628907984.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:24.782Z,1628907984.782 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:26:24.782Z,1628907984.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:26:24.782Z,1628907984.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:26:24.783Z,1628907984.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:26:25.173Z,1628907985.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,00733,187,80,80,5B,FF
2021-08-14T02:26:25.173Z,1628907985.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:26:25.173Z,1628907985.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:26:25.175Z,1628907985.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:26:25.632Z,1628907985.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:26:26.021Z,1628907986.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,00763,186,80,80,A8,FF
2021-08-14T02:26:26.022Z,1628907986.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:26:26.450Z,1628907986.450 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022626.28*56

2021-08-14T02:26:26.471Z,1628907986.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.959999 m, bearing: 344.855541 deg, deltaT: 4.534316 s, approachRate: 0.635156 m/s, LOS rate: 0.412729 deg/s, posRepo size: 3
2021-08-14T02:26:26.498Z,1628907986.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.959999 m,
      bearing: 344.855541 deg,
      approachRate: 0.635156 m/s,
      LOS rate: 0.412729 deg/s,
      cmd update: 1.238188 deg/s,
      cmd heading: 347.960703 deg,
      new cmd heading: 348.535585 deg.

2021-08-14T02:26:28.918Z,1628907988.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:29.233Z,1628907989.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:26:29.233Z,1628907989.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:26:29.234Z,1628907989.234 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:26:29.235Z,1628907989.235 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:26:29.648Z,1628907989.648 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F50,000,00763,186,80,80,A8,FF
2021-08-14T02:26:29.649Z,1628907989.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:26:29.649Z,1628907989.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:26:29.656Z,1628907989.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:26:30.053Z,1628907990.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:26:30.460Z,1628907990.460 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,00791,186,80,80,4A,FF
2021-08-14T02:26:30.460Z,1628907990.460 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:26:30.878Z,1628907990.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022630.77*5B

2021-08-14T02:26:30.903Z,1628907990.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.720009 m, bearing: 344.364669 deg, deltaT: 4.381733 s, approachRate: 0.629890 m/s, LOS rate: -0.112027 deg/s, posRepo size: 4
2021-08-14T02:26:30.905Z,1628907990.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.720009 m,
      bearing: 344.364669 deg,
      approachRate: 0.629890 m/s,
      LOS rate: -0.112027 deg/s,
      cmd update: -0.336081 deg/s,
      cmd heading: 353.367014 deg,
      new cmd heading: 353.882604 deg.

2021-08-14T02:26:33.331Z,1628907993.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:33.733Z,1628907993.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:26:33.733Z,1628907993.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:26:33.734Z,1628907993.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:26:33.735Z,1628907993.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:26:34.093Z,1628907994.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,00791,186,80,80,4A,FF
2021-08-14T02:26:34.093Z,1628907994.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:26:34.093Z,1628907994.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:26:34.095Z,1628907994.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:26:34.493Z,1628907994.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:26:34.889Z,1628907994.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,003CC,187,80,80,5E,FF
2021-08-14T02:26:34.890Z,1628907994.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:26:35.338Z,1628907995.338 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022635.20*5C

2021-08-14T02:26:35.390Z,1628907995.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 11.620324 deg, deltaT: 4.405676 s, approachRate: -13.142139 m/s, LOS rate: 6.186484 deg/s, posRepo size: 4
2021-08-14T02:26:35.391Z,1628907995.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 20.82 m.
2021-08-14T02:26:35.424Z,1628907995.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.820002 m,
      bearing: 11.620324 deg,
      approachRate: -13.142139 m/s,
      LOS rate: 6.186484 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 351.878398 deg,
      new cmd heading: 351.719084 deg.

2021-08-14T02:26:35.782Z,1628907995.782 [PowerOnly](INFO): Powering up loadControl
2021-08-14T02:26:35.864Z,1628907995.864 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:26:35.864Z,1628907995.864 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:26:35.864Z,1628907995.864 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:26:35.865Z,1628907995.865 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:26:35.865Z,1628907995.865 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:26:35.865Z,1628907995.865 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:26:36.194Z,1628907996.194 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:26:36.195Z,1628907996.195 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:26:36.195Z,1628907996.195 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:26:36.195Z,1628907996.195 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:26:37.870Z,1628907997.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:38.146Z,1628907998.146 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:26:38.146Z,1628907998.146 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:26:38.146Z,1628907998.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:26:38.147Z,1628907998.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:26:38.545Z,1628907998.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,003CC,187,80,80,5E,FF
2021-08-14T02:26:38.545Z,1628907998.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:26:38.545Z,1628907998.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:26:38.547Z,1628907998.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:26:38.967Z,1628907998.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:26:39.794Z,1628907999.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022639.66*52

2021-08-14T02:26:40.603Z,1628908000.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:42.181Z,1628908002.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,5E,FF
2021-08-14T02:26:42.181Z,1628908002.181 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,5E,FF
2021-08-14T02:26:42.181Z,1628908002.181 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:26:43.425Z,1628908003.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:43.801Z,1628908003.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:26:43.801Z,1628908003.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:26:43.801Z,1628908003.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:26:43.802Z,1628908003.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:26:44.201Z,1628908004.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,5E,FF
2021-08-14T02:26:44.201Z,1628908004.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:26:44.201Z,1628908004.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:26:44.203Z,1628908004.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:26:44.612Z,1628908004.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:26:45.430Z,1628908005.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022645.31*5B

2021-08-14T02:26:46.254Z,1628908006.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:47.837Z,1628908007.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,5E,FF
2021-08-14T02:26:47.837Z,1628908007.837 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,5E,FF
2021-08-14T02:26:47.837Z,1628908007.837 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:26:49.093Z,1628908009.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:49.453Z,1628908009.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:26:49.453Z,1628908009.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:26:49.453Z,1628908009.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:26:49.454Z,1628908009.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:26:49.861Z,1628908009.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,5E,FF
2021-08-14T02:26:49.861Z,1628908009.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:26:49.861Z,1628908009.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:26:49.863Z,1628908009.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:26:50.264Z,1628908010.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:26:50.808Z,1628908010.808 [DDM](ERROR): Could not parse latch state
2021-08-14T02:26:50.814Z,1628908010.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,0083F,186,80,80,7E,FF
2021-08-14T02:26:50.814Z,1628908010.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:26:51.022Z,1628908011.022 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:26:51.174Z,1628908011.174 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022650.97*53

2021-08-14T02:26:51.195Z,1628908011.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.160004 m, bearing: 58.582123 deg, deltaT: 16.103265 s, approachRate: 4.243860 m/s, LOS rate: 2.916291 deg/s, posRepo size: 4
2021-08-14T02:26:51.217Z,1628908011.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.160004 m,
      bearing: 58.582123 deg,
      approachRate: 4.243860 m/s,
      LOS rate: 2.916291 deg/s,
      cmd update: 8.748871 deg/s,
      cmd heading: 185.025532 deg,
      new cmd heading: 187.226128 deg.

2021-08-14T02:26:51.649Z,1628908011.649 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:26:51.650Z,1628908011.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:26:51.651Z,1628908011.651 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:26:51.657Z,1628908011.657 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:26:51.658Z,1628908011.658 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:26:51.658Z,1628908011.658 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:26:52.026Z,1628908012.026 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:26:52.026Z,1628908012.026 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:26:52.027Z,1628908012.027 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:26:52.027Z,1628908012.027 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:26:53.596Z,1628908013.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:53.981Z,1628908013.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:26:53.981Z,1628908013.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:26:53.981Z,1628908013.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:26:53.982Z,1628908013.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:26:54.381Z,1628908014.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,0083F,186,80,80,7E,FF
2021-08-14T02:26:54.381Z,1628908014.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:26:54.381Z,1628908014.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:26:54.383Z,1628908014.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:26:54.792Z,1628908014.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:26:55.611Z,1628908015.611 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022655.49*55

2021-08-14T02:26:56.438Z,1628908016.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:58.037Z,1628908018.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7E,FF
2021-08-14T02:26:58.037Z,1628908018.037 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7E,FF
2021-08-14T02:26:58.037Z,1628908018.037 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:26:59.278Z,1628908019.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:26:59.639Z,1628908019.639 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:26:59.680Z,1628908019.680 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:26:59.681Z,1628908019.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:26:59.683Z,1628908019.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:27:00.047Z,1628908020.047 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7E,FF
2021-08-14T02:27:00.047Z,1628908020.047 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:27:00.047Z,1628908020.047 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:27:00.049Z,1628908020.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:27:00.448Z,1628908020.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:27:01.282Z,1628908021.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022701.16*5F

2021-08-14T02:27:01.812Z,1628908021.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:03.758Z,1628908023.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7E,FF
2021-08-14T02:27:03.759Z,1628908023.759 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7E,FF
2021-08-14T02:27:03.759Z,1628908023.759 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:27:04.546Z,1628908024.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:04.893Z,1628908024.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:27:04.893Z,1628908024.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:27:04.893Z,1628908024.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:27:04.894Z,1628908024.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:27:05.294Z,1628908025.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7E,FF
2021-08-14T02:27:05.294Z,1628908025.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:27:05.294Z,1628908025.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:27:05.313Z,1628908025.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:27:05.784Z,1628908025.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:27:06.112Z,1628908026.112 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC3,000,00851,189,80,80,B8,FF
2021-08-14T02:27:06.113Z,1628908026.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:27:06.533Z,1628908026.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022706.42*59

2021-08-14T02:27:06.555Z,1628908026.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.240005 m, bearing: 104.816780 deg, deltaT: 15.114948 s, approachRate: 0.071453 m/s, LOS rate: 3.058870 deg/s, posRepo size: 4
2021-08-14T02:27:06.558Z,1628908026.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.240005 m,
      bearing: 104.816780 deg,
      approachRate: 0.071453 m/s,
      LOS rate: 3.058870 deg/s,
      cmd update: 9.176609 deg/s,
      cmd heading: 317.330548 deg,
      new cmd heading: 321.015371 deg.

2021-08-14T02:27:08.974Z,1628908028.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:09.337Z,1628908029.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:27:09.337Z,1628908029.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:27:09.337Z,1628908029.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:27:09.338Z,1628908029.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:27:09.773Z,1628908029.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC3,000,00851,189,80,80,B8,FF
2021-08-14T02:27:09.773Z,1628908029.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:27:09.773Z,1628908029.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:27:09.775Z,1628908029.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:27:10.153Z,1628908030.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:27:10.558Z,1628908030.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C44,000,0085C,188,80,80,8E,FF
2021-08-14T02:27:10.558Z,1628908030.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:27:10.971Z,1628908030.971 [Micromodem](INFO): Nmea in: $SNTTA,0.448111,,,,022710.88*4F

2021-08-14T02:27:11.013Z,1628908031.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.900009 m, bearing: 104.284599 deg, deltaT: 4.440869 s, approachRate: 0.148620 m/s, LOS rate: -0.119837 deg/s, posRepo size: 4
2021-08-14T02:27:11.015Z,1628908031.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.900009 m,
      bearing: 104.284599 deg,
      approachRate: 0.148620 m/s,
      LOS rate: -0.119837 deg/s,
      cmd update: -0.359511 deg/s,
      cmd heading: 358.081447 deg,
      new cmd heading: 2.096103 deg.

2021-08-14T02:27:13.395Z,1628908033.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:13.785Z,1628908033.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:27:13.785Z,1628908033.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:27:13.785Z,1628908033.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:27:13.786Z,1628908033.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:27:14.185Z,1628908034.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C44,000,0085C,188,80,80,8E,FF
2021-08-14T02:27:14.185Z,1628908034.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:27:14.185Z,1628908034.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:27:14.187Z,1628908034.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:27:14.589Z,1628908034.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:27:15.001Z,1628908035.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,00877,186,80,80,95,FF
2021-08-14T02:27:15.001Z,1628908035.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:27:15.429Z,1628908035.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022715.30*5E

2021-08-14T02:27:15.462Z,1628908035.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.520004 m, bearing: 59.537618 deg, deltaT: 4.486747 s, approachRate: 0.361062 m/s, LOS rate: -9.973145 deg/s, posRepo size: 4
2021-08-14T02:27:15.464Z,1628908035.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.520004 m,
      bearing: 59.537618 deg,
      approachRate: 0.361062 m/s,
      LOS rate: -9.973145 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 356.471734 deg,
      new cmd heading: 356.324621 deg.

2021-08-14T02:27:17.882Z,1628908037.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:18.225Z,1628908038.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:27:18.226Z,1628908038.226 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:27:18.226Z,1628908038.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:27:18.227Z,1628908038.227 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:27:18.625Z,1628908038.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,00877,186,80,80,95,FF
2021-08-14T02:27:18.625Z,1628908038.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:27:18.625Z,1628908038.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:27:18.627Z,1628908038.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:27:19.041Z,1628908039.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:27:19.433Z,1628908039.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,0089B,189,80,80,5F,FF
2021-08-14T02:27:19.434Z,1628908039.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:27:19.877Z,1628908039.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022719.74*52

2021-08-14T02:27:19.940Z,1628908039.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.680000 m, bearing: 342.942897 deg, deltaT: 4.388426 s, approachRate: 0.492203 m/s, LOS rate: -17.453801 deg/s, posRepo size: 4
2021-08-14T02:27:19.941Z,1628908039.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.453801 deg/s. Setting heading cmd to target bearing of 342.942897deg and heading rate command to 0 deg/s.
2021-08-14T02:27:22.283Z,1628908042.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:22.673Z,1628908042.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:27:22.674Z,1628908042.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:27:22.674Z,1628908042.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:27:22.675Z,1628908042.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:27:23.069Z,1628908043.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,0089B,189,80,80,5F,FF
2021-08-14T02:27:23.069Z,1628908043.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:27:23.069Z,1628908043.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:27:23.071Z,1628908043.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:27:23.476Z,1628908043.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:27:23.885Z,1628908043.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CA,000,008C8,187,80,80,43,FF
2021-08-14T02:27:23.887Z,1628908043.887 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:27:24.310Z,1628908044.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022724.18*56

2021-08-14T02:27:24.356Z,1628908044.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.380005 m, bearing: 351.089919 deg, deltaT: 4.551681 s, approachRate: 0.593188 m/s, LOS rate: 1.789893 deg/s, posRepo size: 4
2021-08-14T02:27:24.358Z,1628908044.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.380005 m,
      bearing: 351.089919 deg,
      approachRate: 0.593188 m/s,
      LOS rate: 1.789893 deg/s,
      cmd update: 5.369680 deg/s,
      cmd heading: 342.942897 deg,
      new cmd heading: 342.942897 deg.

2021-08-14T02:27:26.760Z,1628908046.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:27.113Z,1628908047.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:27:27.113Z,1628908047.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:27:27.113Z,1628908047.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:27:27.114Z,1628908047.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:27:27.513Z,1628908047.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CA,000,008C8,187,80,80,43,FF
2021-08-14T02:27:27.514Z,1628908047.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:27:27.514Z,1628908047.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:27:27.515Z,1628908047.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:27:27.929Z,1628908047.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:27:27.970Z,1628908047.970 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:27:28.758Z,1628908048.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022728.62*57

2021-08-14T02:27:29.567Z,1628908049.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:31.149Z,1628908051.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,43,FF
2021-08-14T02:27:31.149Z,1628908051.149 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,43,FF
2021-08-14T02:27:31.149Z,1628908051.149 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:27:32.398Z,1628908052.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:32.785Z,1628908052.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:27:32.785Z,1628908052.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:27:32.785Z,1628908052.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:27:32.786Z,1628908052.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:27:32.824Z,1628908052.824 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,43,FF
2021-08-14T02:27:32.824Z,1628908052.824 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:27:32.824Z,1628908052.824 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:27:32.826Z,1628908052.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:27:33.176Z,1628908053.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:27:33.577Z,1628908053.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,00935,186,80,80,5E,FF
2021-08-14T02:27:33.578Z,1628908053.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:27:34.007Z,1628908054.007 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022733.93*53

2021-08-14T02:27:34.051Z,1628908054.051 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:27:34.107Z,1628908054.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.919998 m, bearing: 10.256009 deg, deltaT: 9.616741 s, approachRate: 0.680063 m/s, LOS rate: 1.992993 deg/s, posRepo size: 4
2021-08-14T02:27:34.113Z,1628908054.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.919998 m,
      bearing: 10.256009 deg,
      approachRate: 0.680063 m/s,
      LOS rate: 1.992993 deg/s,
      cmd update: 5.978980 deg/s,
      cmd heading: 34.473843 deg,
      new cmd heading: 37.223656 deg.

2021-08-14T02:27:36.444Z,1628908056.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:36.817Z,1628908056.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:27:36.817Z,1628908056.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:27:36.817Z,1628908056.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:27:36.818Z,1628908056.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:27:37.213Z,1628908057.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,00935,186,80,80,5E,FF
2021-08-14T02:27:37.213Z,1628908057.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:27:37.213Z,1628908057.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:27:37.215Z,1628908057.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:27:37.619Z,1628908057.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:27:38.025Z,1628908058.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,00964,186,80,80,35,FF
2021-08-14T02:27:38.025Z,1628908058.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:27:38.457Z,1628908058.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022738.33*52

2021-08-14T02:27:38.493Z,1628908058.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.740005 m, bearing: 19.962085 deg, deltaT: 4.514022 s, approachRate: 0.624722 m/s, LOS rate: 2.150206 deg/s, posRepo size: 4
2021-08-14T02:27:38.495Z,1628908058.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.740005 m,
      bearing: 19.962085 deg,
      approachRate: 0.624722 m/s,
      LOS rate: 2.150206 deg/s,
      cmd update: 6.450618 deg/s,
      cmd heading: 61.503467 deg,
      new cmd heading: 63.758726 deg.

2021-08-14T02:27:40.902Z,1628908060.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:41.257Z,1628908061.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:27:41.257Z,1628908061.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:27:41.257Z,1628908061.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:27:41.258Z,1628908061.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:27:41.676Z,1628908061.676 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,00964,186,80,80,35,FF
2021-08-14T02:27:41.677Z,1628908061.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:27:41.678Z,1628908061.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:27:41.691Z,1628908061.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:27:41.832Z,1628908061.832 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-14T02:27:41.832Z,1628908061.832 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T02:27:41.832Z,1628908061.832 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T02:27:42.044Z,1628908062.044 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T02:27:42.109Z,1628908062.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:27:42.192Z,1628908062.192 [RDI_Pathfinder](INFO): Powering down
2021-08-14T02:27:42.502Z,1628908062.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,0098A,186,80,80,7C,FF
2021-08-14T02:27:42.502Z,1628908062.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:27:42.949Z,1628908062.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022742.81*56

2021-08-14T02:27:43.015Z,1628908063.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.020004 m, bearing: 41.375520 deg, deltaT: 4.390345 s, approachRate: 0.519321 m/s, LOS rate: 4.877392 deg/s, posRepo size: 4
2021-08-14T02:27:43.017Z,1628908063.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.020004 m,
      bearing: 41.375520 deg,
      approachRate: 0.519321 m/s,
      LOS rate: 4.877392 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 89.935009 deg,
      new cmd heading: 93.107552 deg.

2021-08-14T02:27:43.140Z,1628908063.140 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T02:27:43.140Z,1628908063.140 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T02:27:45.351Z,1628908065.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:45.769Z,1628908065.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:27:45.769Z,1628908065.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:27:45.769Z,1628908065.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:27:45.770Z,1628908065.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:27:46.141Z,1628908066.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,0098A,186,80,80,7C,FF
2021-08-14T02:27:46.141Z,1628908066.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:27:46.141Z,1628908066.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:27:46.143Z,1628908066.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:27:46.550Z,1628908066.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:27:46.960Z,1628908066.960 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,009AE,187,80,80,99,FF
2021-08-14T02:27:46.961Z,1628908066.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:27:47.389Z,1628908067.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022747.25*5D

2021-08-14T02:27:47.411Z,1628908067.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.180000 m, bearing: 63.934047 deg, deltaT: 4.464743 s, approachRate: 0.483790 m/s, LOS rate: 5.052592 deg/s, posRepo size: 4
2021-08-14T02:27:47.415Z,1628908067.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.180000 m,
      bearing: 63.934047 deg,
      approachRate: 0.483790 m/s,
      LOS rate: 5.052592 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 143.511446 deg,
      new cmd heading: 148.592955 deg.

2021-08-14T02:27:49.809Z,1628908069.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:50.173Z,1628908070.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:27:50.173Z,1628908070.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:27:50.173Z,1628908070.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:27:50.174Z,1628908070.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:27:50.600Z,1628908070.600 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,009AE,187,80,80,99,FF
2021-08-14T02:27:50.600Z,1628908070.600 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:27:50.600Z,1628908070.600 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:27:50.602Z,1628908070.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:27:50.989Z,1628908070.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:27:51.397Z,1628908071.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,009C3,188,80,80,97,FF
2021-08-14T02:27:51.397Z,1628908071.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:27:51.821Z,1628908071.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022751.71*5B

2021-08-14T02:27:51.863Z,1628908071.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.440002 m, bearing: 43.020834 deg, deltaT: 4.426875 s, approachRate: 0.284626 m/s, LOS rate: -4.724148 deg/s, posRepo size: 4
2021-08-14T02:27:51.869Z,1628908071.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.440002 m,
      bearing: 43.020834 deg,
      approachRate: 0.284626 m/s,
      LOS rate: -4.724148 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 196.635940 deg,
      new cmd heading: 202.016824 deg.

2021-08-14T02:27:54.243Z,1628908074.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:54.613Z,1628908074.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:27:54.613Z,1628908074.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:27:54.613Z,1628908074.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:27:54.614Z,1628908074.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:27:55.025Z,1628908075.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
246,000,009C3,188,80,80,97,FF
2021-08-14T02:27:55.025Z,1628908075.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:27:55.025Z,1628908075.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:27:55.027Z,1628908075.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:27:55.438Z,1628908075.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:27:55.833Z,1628908075.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,009CA,187,80,80,C6,FF
2021-08-14T02:27:55.833Z,1628908075.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:27:56.277Z,1628908076.277 [Micromodem](INFO): Nmea in: $SNTTA,0.077240,,,,022756.13*40

2021-08-14T02:27:56.298Z,1628908076.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.860001 m, bearing: 118.182244 deg, deltaT: 4.486246 s, approachRate: 0.093619 m/s, LOS rate: 16.753742 deg/s, posRepo size: 4
2021-08-14T02:27:56.299Z,1628908076.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.753742 deg/s. Setting heading cmd to target bearing of 118.182244deg and heading rate command to 0 deg/s.
2021-08-14T02:27:58.738Z,1628908078.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:27:59.061Z,1628908079.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:27:59.061Z,1628908079.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:27:59.061Z,1628908079.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:27:59.062Z,1628908079.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:27:59.485Z,1628908079.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,009CA,187,80,80,C6,FF
2021-08-14T02:27:59.485Z,1628908079.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:27:59.485Z,1628908079.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:27:59.487Z,1628908079.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:27:59.877Z,1628908079.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:28:00.286Z,1628908080.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,009C2,189,80,80,A1,FF
2021-08-14T02:28:00.286Z,1628908080.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:28:00.733Z,1628908080.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022800.60*50

2021-08-14T02:28:00.769Z,1628908080.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.379997 m, bearing: 174.566876 deg, deltaT: 4.414205 s, approachRate: -0.108741 m/s, LOS rate: 12.773451 deg/s, posRepo size: 4
2021-08-14T02:28:00.770Z,1628908080.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.773451 deg/s. Setting heading cmd to target bearing of 174.566876deg and heading rate command to 0 deg/s.
2021-08-14T02:28:03.131Z,1628908083.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:28:03.509Z,1628908083.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:28:03.509Z,1628908083.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:28:03.509Z,1628908083.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:28:03.510Z,1628908083.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:28:03.919Z,1628908083.919 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,009C2,189,80,80,A1,FF
2021-08-14T02:28:03.941Z,1628908083.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:28:03.942Z,1628908083.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:28:03.952Z,1628908083.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:28:04.326Z,1628908084.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:28:04.757Z,1628908084.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B0E,000,009AF,189,80,80,7E,FF
2021-08-14T02:28:04.758Z,1628908084.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:28:05.143Z,1628908085.143 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022805.06*55

2021-08-14T02:28:05.178Z,1628908085.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.240005 m, bearing: 188.869921 deg, deltaT: 4.489830 s, approachRate: -0.253905 m/s, LOS rate: 3.185654 deg/s, posRepo size: 4
2021-08-14T02:28:05.184Z,1628908085.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.240005 m,
      bearing: 188.869921 deg,
      approachRate: -0.253905 m/s,
      LOS rate: 3.185654 deg/s,
      cmd update: 9.556962 deg/s,
      cmd heading: 174.566876 deg,
      new cmd heading: 174.566876 deg.

2021-08-14T02:28:07.587Z,1628908087.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:28:07.953Z,1628908087.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:28:07.953Z,1628908087.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:28:07.954Z,1628908087.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:28:07.955Z,1628908087.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:28:08.365Z,1628908088.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B0E,000,009AF,189,80,80,7E,FF
2021-08-14T02:28:08.365Z,1628908088.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:28:08.366Z,1628908088.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:28:08.367Z,1628908088.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:28:08.773Z,1628908088.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:28:09.165Z,1628908089.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3C,000,0099B,18A,80,80,8A,FF
2021-08-14T02:28:09.165Z,1628908089.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:28:09.602Z,1628908089.602 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022809.48*53

2021-08-14T02:28:09.637Z,1628908089.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.040009 m, bearing: 178.505956 deg, deltaT: 4.404833 s, approachRate: -0.272427 m/s, LOS rate: -2.352862 deg/s, posRepo size: 4
2021-08-14T02:28:09.639Z,1628908089.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.040009 m,
      bearing: 178.505956 deg,
      approachRate: -0.272427 m/s,
      LOS rate: -2.352862 deg/s,
      cmd update: -7.058587 deg/s,
      cmd heading: 216.669576 deg,
      new cmd heading: 220.752778 deg.

2021-08-14T02:28:12.060Z,1628908092.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:28:12.401Z,1628908092.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:28:12.401Z,1628908092.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:28:12.401Z,1628908092.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:28:12.402Z,1628908092.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:28:12.813Z,1628908092.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3C,000,0099B,18A,80,80,8A,FF
2021-08-14T02:28:12.813Z,1628908092.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:28:12.814Z,1628908092.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:28:12.815Z,1628908092.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:28:13.205Z,1628908093.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:28:13.625Z,1628908093.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF6,000,00975,187,80,80,7D,FF
2021-08-14T02:28:13.625Z,1628908093.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:28:14.065Z,1628908094.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022813.92*5F

2021-08-14T02:28:14.119Z,1628908094.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.760002 m, bearing: 187.292885 deg, deltaT: 4.523248 s, approachRate: -0.504064 m/s, LOS rate: 1.942615 deg/s, posRepo size: 4
2021-08-14T02:28:14.126Z,1628908094.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.760002 m,
      bearing: 187.292885 deg,
      approachRate: -0.504064 m/s,
      LOS rate: 1.942615 deg/s,
      cmd update: 5.827844 deg/s,
      cmd heading: 184.804192 deg,
      new cmd heading: 182.013890 deg.

2021-08-14T02:28:16.468Z,1628908096.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:28:16.849Z,1628908096.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:28:16.849Z,1628908096.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:28:16.850Z,1628908096.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:28:16.850Z,1628908096.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:28:17.249Z,1628908097.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF6,000,00975,187,80,80,7D,FF
2021-08-14T02:28:17.249Z,1628908097.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:28:17.249Z,1628908097.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:28:17.251Z,1628908097.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:28:17.674Z,1628908097.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:28:18.053Z,1628908098.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,0094D,183,80,80,9E,FF
2021-08-14T02:28:18.053Z,1628908098.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:28:18.509Z,1628908098.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.360001 m, bearing: 180.559275 deg, deltaT: 4.357391 s, approachRate: -0.550789 m/s, LOS rate: -1.545331 deg/s, posRepo size: 4
2021-08-14T02:28:18.511Z,1628908098.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.360001 m,
      bearing: 180.559275 deg,
      approachRate: -0.550789 m/s,
      LOS rate: -1.545331 deg/s,
      cmd update: -4.635992 deg/s,
      cmd heading: 210.132902 deg,
      new cmd heading: 212.689967 deg.

2021-08-14T02:28:20.950Z,1628908100.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:28:21.285Z,1628908101.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:28:21.286Z,1628908101.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:28:21.286Z,1628908101.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:28:21.287Z,1628908101.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:28:21.705Z,1628908101.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,0094D,183,80,80,9E,FF
2021-08-14T02:28:21.706Z,1628908101.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:28:21.707Z,1628908101.707 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:28:21.714Z,1628908101.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:28:22.111Z,1628908102.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:28:22.506Z,1628908102.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,0091F,186,80,80,AC,FF
2021-08-14T02:28:22.507Z,1628908102.507 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:28:22.918Z,1628908102.918 [Micromodem](INFO): Nmea in: $SNTTA,0.304707,,,,022822.82*45

2021-08-14T02:28:22.962Z,1628908102.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.600006 m, bearing: 175.780751 deg, deltaT: 4.484305 s, approachRate: -0.615479 m/s, LOS rate: -1.065611 deg/s, posRepo size: 4
2021-08-14T02:28:22.964Z,1628908102.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.600006 m,
      bearing: 175.780751 deg,
      approachRate: -0.615479 m/s,
      LOS rate: -1.065611 deg/s,
      cmd update: -3.196832 deg/s,
      cmd heading: 189.296597 deg,
      new cmd heading: 187.455737 deg.

2021-08-14T02:28:25.373Z,1628908105.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:28:25.770Z,1628908105.770 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:28:25.770Z,1628908105.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:28:25.770Z,1628908105.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:28:25.771Z,1628908105.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:28:26.129Z,1628908106.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,0091F,186,80,80,AC,FF
2021-08-14T02:28:26.129Z,1628908106.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:28:26.129Z,1628908106.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:28:26.131Z,1628908106.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:28:26.537Z,1628908106.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:28:26.946Z,1628908106.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AB,000,00901,189,80,80,8F,FF
2021-08-14T02:28:26.946Z,1628908106.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:28:27.389Z,1628908107.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022827.24*55

2021-08-14T02:28:27.466Z,1628908107.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.800011 m, bearing: 166.879389 deg, deltaT: 4.399686 s, approachRate: -0.409119 m/s, LOS rate: -2.023181 deg/s, posRepo size: 4
2021-08-14T02:28:27.472Z,1628908107.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.800011 m,
      bearing: 166.879389 deg,
      approachRate: -0.409119 m/s,
      LOS rate: -2.023181 deg/s,
      cmd update: -6.069543 deg/s,
      cmd heading: 175.199875 deg,
      new cmd heading: 173.629317 deg.

2021-08-14T02:28:29.870Z,1628908109.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:28:30.173Z,1628908110.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:28:30.173Z,1628908110.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:28:30.173Z,1628908110.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:28:30.174Z,1628908110.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:28:30.573Z,1628908110.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,00901,189,80,80,8F,FF
2021-08-14T02:28:30.573Z,1628908110.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:28:30.574Z,1628908110.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:28:30.575Z,1628908110.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:28:30.992Z,1628908110.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:28:31.420Z,1628908111.420 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BB,000,008CF,185,80,80,A5,FF
2021-08-14T02:28:31.422Z,1628908111.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:28:31.826Z,1628908111.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022831.68*5A

2021-08-14T02:28:31.852Z,1628908111.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.800003 m, bearing: 177.036304 deg, deltaT: 4.549623 s, approachRate: -0.659397 m/s, LOS rate: 2.232474 deg/s, posRepo size: 4
2021-08-14T02:28:31.854Z,1628908111.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.800003 m,
      bearing: 177.036304 deg,
      approachRate: -0.659397 m/s,
      LOS rate: 2.232474 deg/s,
      cmd update: 6.697422 deg/s,
      cmd heading: 147.610153 deg,
      new cmd heading: 145.594518 deg.

2021-08-14T02:28:34.235Z,1628908114.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:28:34.621Z,1628908114.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:28:34.621Z,1628908114.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:28:34.622Z,1628908114.622 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:28:34.622Z,1628908114.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:28:35.017Z,1628908115.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BB,000,008CF,185,80,80,A5,FF
2021-08-14T02:28:35.017Z,1628908115.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:28:35.017Z,1628908115.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:28:35.019Z,1628908115.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:28:35.473Z,1628908115.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:28:36.254Z,1628908116.254 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022836.13*51

2021-08-14T02:28:36.739Z,1628908116.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:28:38.653Z,1628908118.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,A5,FF
2021-08-14T02:28:38.653Z,1628908118.653 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,A5,FF
2021-08-14T02:28:38.653Z,1628908118.653 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:28:39.520Z,1628908119.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:28:39.873Z,1628908119.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:28:39.874Z,1628908119.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:28:39.874Z,1628908119.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:28:39.875Z,1628908119.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:28:40.269Z,1628908120.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,A5,FF
2021-08-14T02:28:40.269Z,1628908120.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:28:40.270Z,1628908120.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:28:40.271Z,1628908120.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:28:40.690Z,1628908120.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:28:41.077Z,1628908121.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,0086F,187,80,80,9D,FF
2021-08-14T02:28:41.077Z,1628908121.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:28:41.522Z,1628908121.522 [Micromodem](INFO): Nmea in: $SNTTA,0.061110,,,,022841.38*41

2021-08-14T02:28:41.558Z,1628908121.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.040001 m, bearing: 184.530456 deg, deltaT: 9.627991 s, approachRate: -0.598256 m/s, LOS rate: 0.778371 deg/s, posRepo size: 4
2021-08-14T02:28:41.560Z,1628908121.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.040001 m,
      bearing: 184.530456 deg,
      approachRate: -0.598256 m/s,
      LOS rate: 0.778371 deg/s,
      cmd update: 2.335114 deg/s,
      cmd heading: 212.113917 deg,
      new cmd heading: 214.837042 deg.

2021-08-14T02:28:43.988Z,1628908123.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:28:44.318Z,1628908124.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:28:44.318Z,1628908124.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:28:44.318Z,1628908124.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:28:44.319Z,1628908124.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:28:44.725Z,1628908124.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,0086F,187,80,80,9D,FF
2021-08-14T02:28:44.725Z,1628908124.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:28:44.725Z,1628908124.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:28:44.727Z,1628908124.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:28:45.139Z,1628908125.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:28:45.521Z,1628908125.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,00840,184,80,80,BD,FF
2021-08-14T02:28:45.521Z,1628908125.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:28:45.962Z,1628908125.962 [Micromodem](INFO): Nmea in: $SNTTA,0.074671,,,,022845.84*46

2021-08-14T02:28:45.989Z,1628908125.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.220009 m, bearing: 180.771789 deg, deltaT: 4.444777 s, approachRate: -0.634451 m/s, LOS rate: -0.845637 deg/s, posRepo size: 4
2021-08-14T02:28:45.991Z,1628908125.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.220009 m,
      bearing: 180.771789 deg,
      approachRate: -0.634451 m/s,
      LOS rate: -0.845637 deg/s,
      cmd update: -2.536910 deg/s,
      cmd heading: 222.466957 deg,
      new cmd heading: 223.409783 deg.

2021-08-14T02:28:48.382Z,1628908128.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:28:48.761Z,1628908128.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:28:48.761Z,1628908128.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:28:48.761Z,1628908128.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:28:48.762Z,1628908128.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:28:49.162Z,1628908129.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,00840,184,80,80,BD,FF
2021-08-14T02:28:49.162Z,1628908129.162 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:28:49.162Z,1628908129.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:28:49.164Z,1628908129.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:28:49.561Z,1628908129.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:28:49.969Z,1628908129.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,00815,188,80,80,91,FF
2021-08-14T02:28:49.969Z,1628908129.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:28:50.402Z,1628908130.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022850.28*59

2021-08-14T02:28:50.432Z,1628908130.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.639999 m, bearing: 172.070224 deg, deltaT: 4.428043 s, approachRate: -0.582652 m/s, LOS rate: -1.965104 deg/s, posRepo size: 4
2021-08-14T02:28:50.434Z,1628908130.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.639999 m,
      bearing: 172.070224 deg,
      approachRate: -0.582652 m/s,
      LOS rate: -1.965104 deg/s,
      cmd update: -5.895312 deg/s,
      cmd heading: 211.223513 deg,
      new cmd heading: 210.170053 deg.

2021-08-14T02:28:52.843Z,1628908132.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:28:53.213Z,1628908133.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:28:53.213Z,1628908133.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:28:53.213Z,1628908133.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:28:53.214Z,1628908133.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:28:53.605Z,1628908133.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,00815,188,80,80,91,FF
2021-08-14T02:28:53.605Z,1628908133.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:28:53.605Z,1628908133.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:28:53.607Z,1628908133.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:28:54.052Z,1628908134.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:28:54.417Z,1628908134.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AE,000,007F1,189,80,80,8E,FF
2021-08-14T02:28:54.417Z,1628908134.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:28:54.861Z,1628908134.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022854.72*52

2021-08-14T02:28:54.888Z,1628908134.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.480003 m, bearing: 166.248840 deg, deltaT: 4.409194 s, approachRate: -0.489885 m/s, LOS rate: -1.320283 deg/s, posRepo size: 4
2021-08-14T02:28:54.890Z,1628908134.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.480003 m,
      bearing: 166.248840 deg,
      approachRate: -0.489885 m/s,
      LOS rate: -1.320283 deg/s,
      cmd update: -3.960849 deg/s,
      cmd heading: 185.180753 deg,
      new cmd heading: 182.507436 deg.

2021-08-14T02:28:57.267Z,1628908137.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:28:57.641Z,1628908137.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:28:57.641Z,1628908137.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:28:57.641Z,1628908137.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:28:57.642Z,1628908137.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:28:58.045Z,1628908138.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AE,000,007F1,189,80,80,8E,FF
2021-08-14T02:28:58.045Z,1628908138.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:28:58.045Z,1628908138.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:28:58.047Z,1628908138.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:28:58.453Z,1628908138.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:28:58.853Z,1628908138.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E5,000,007D5,189,80,80,7F,FF
2021-08-14T02:28:58.853Z,1628908138.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:28:59.317Z,1628908139.317 [Micromodem](INFO): Nmea in: $SNTTA,0.061042,,,,022859.16*42

2021-08-14T02:28:59.339Z,1628908139.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.800003 m, bearing: 169.010845 deg, deltaT: 4.479050 s, approachRate: -0.375080 m/s, LOS rate: 0.616650 deg/s, posRepo size: 4
2021-08-14T02:28:59.341Z,1628908139.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.800003 m,
      bearing: 169.010845 deg,
      approachRate: -0.375080 m/s,
      LOS rate: 0.616650 deg/s,
      cmd update: 1.849949 deg/s,
      cmd heading: 167.474036 deg,
      new cmd heading: 165.753031 deg.

2021-08-14T02:29:01.769Z,1628908141.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:29:02.097Z,1628908142.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:29:02.097Z,1628908142.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:29:02.097Z,1628908142.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:29:02.098Z,1628908142.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:29:02.490Z,1628908142.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E5,000,007D5,189,80,80,7F,FF
2021-08-14T02:29:02.490Z,1628908142.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:29:02.490Z,1628908142.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:29:02.491Z,1628908142.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:29:02.905Z,1628908142.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:29:03.298Z,1628908143.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11B,000,007A7,186,80,80,95,FF
2021-08-14T02:29:03.298Z,1628908143.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:29:03.749Z,1628908143.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022903.60*52

2021-08-14T02:29:03.833Z,1628908143.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.040001 m, bearing: 176.522701 deg, deltaT: 4.444357 s, approachRate: -0.621013 m/s, LOS rate: 1.690201 deg/s, posRepo size: 4
2021-08-14T02:29:03.835Z,1628908143.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.040001 m,
      bearing: 176.522701 deg,
      approachRate: -0.621013 m/s,
      LOS rate: 1.690201 deg/s,
      cmd update: 5.070602 deg/s,
      cmd heading: 175.692860 deg,
      new cmd heading: 176.581511 deg.

2021-08-14T02:29:06.199Z,1628908146.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:29:06.565Z,1628908146.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:29:06.565Z,1628908146.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:29:06.565Z,1628908146.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:29:06.566Z,1628908146.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:29:06.969Z,1628908146.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11B,000,007A7,186,80,80,95,FF
2021-08-14T02:29:06.969Z,1628908146.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:29:06.969Z,1628908146.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:29:06.971Z,1628908146.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:29:07.429Z,1628908147.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:29:07.773Z,1628908147.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,00774,186,80,80,83,FF
2021-08-14T02:29:07.774Z,1628908147.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:29:08.225Z,1628908148.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022908.08*57

2021-08-14T02:29:08.264Z,1628908148.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.980003 m, bearing: 177.840572 deg, deltaT: 4.471779 s, approachRate: -0.684291 m/s, LOS rate: 0.294709 deg/s, posRepo size: 4
2021-08-14T02:29:08.266Z,1628908148.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.980003 m,
      bearing: 177.840572 deg,
      approachRate: -0.684291 m/s,
      LOS rate: 0.294709 deg/s,
      cmd update: 0.884126 deg/s,
      cmd heading: 198.395275 deg,
      new cmd heading: 200.600434 deg.

2021-08-14T02:29:10.623Z,1628908150.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:29:11.022Z,1628908151.022 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:29:11.023Z,1628908151.023 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:29:11.023Z,1628908151.023 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:29:11.024Z,1628908151.024 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:29:11.464Z,1628908151.464 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,00774,186,80,80,83,FF
2021-08-14T02:29:11.465Z,1628908151.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:29:11.465Z,1628908151.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:29:11.466Z,1628908151.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:29:11.850Z,1628908151.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:29:12.241Z,1628908152.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,00747,186,80,80,98,FF
2021-08-14T02:29:12.242Z,1628908152.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:29:12.663Z,1628908152.663 [Micromodem](INFO): Nmea in: $SNTTA,0.068093,,,,022912.58*43

2021-08-14T02:29:12.738Z,1628908152.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.279999 m, bearing: 173.366484 deg, deltaT: 4.468586 s, approachRate: -0.604219 m/s, LOS rate: -1.001231 deg/s, posRepo size: 4
2021-08-14T02:29:12.740Z,1628908152.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.279999 m,
      bearing: 173.366484 deg,
      approachRate: -0.604219 m/s,
      LOS rate: -1.001231 deg/s,
      cmd update: -3.003694 deg/s,
      cmd heading: 202.340566 deg,
      new cmd heading: 202.739358 deg.

2021-08-14T02:29:15.121Z,1628908155.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:29:15.481Z,1628908155.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:29:15.481Z,1628908155.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:29:15.481Z,1628908155.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:29:15.482Z,1628908155.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:29:15.881Z,1628908155.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F7,000,00747,186,80,80,98,FF
2021-08-14T02:29:15.882Z,1628908155.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:29:15.882Z,1628908155.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:29:15.883Z,1628908155.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:29:16.291Z,1628908156.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:29:16.685Z,1628908156.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,0071D,189,80,80,8A,FF
2021-08-14T02:29:16.686Z,1628908156.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:29:17.129Z,1628908157.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022917.00*51

2021-08-14T02:29:17.182Z,1628908157.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.760002 m, bearing: 167.657184 deg, deltaT: 4.461068 s, approachRate: -0.564886 m/s, LOS rate: -1.279806 deg/s, posRepo size: 4
2021-08-14T02:29:17.184Z,1628908157.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.760002 m,
      bearing: 167.657184 deg,
      approachRate: -0.564886 m/s,
      LOS rate: -1.279806 deg/s,
      cmd update: -3.839417 deg/s,
      cmd heading: 188.920563 deg,
      new cmd heading: 187.644480 deg.

2021-08-14T02:29:19.557Z,1628908159.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:29:19.929Z,1628908159.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:29:19.929Z,1628908159.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:29:19.929Z,1628908159.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:29:19.930Z,1628908159.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:29:20.329Z,1628908160.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,0071D,189,80,80,8A,FF
2021-08-14T02:29:20.329Z,1628908160.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:29:20.329Z,1628908160.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:29:20.331Z,1628908160.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:29:20.768Z,1628908160.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:29:21.562Z,1628908161.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022921.44*54

2021-08-14T02:29:22.390Z,1628908162.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:29:23.961Z,1628908163.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,8A,FF
2021-08-14T02:29:23.961Z,1628908163.961 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,8A,FF
2021-08-14T02:29:23.961Z,1628908163.961 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:29:25.202Z,1628908165.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:29:25.573Z,1628908165.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:29:25.573Z,1628908165.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:29:25.573Z,1628908165.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:29:25.574Z,1628908165.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:29:25.985Z,1628908165.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,8A,FF
2021-08-14T02:29:25.985Z,1628908165.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:29:25.985Z,1628908165.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:29:25.987Z,1628908165.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:29:26.384Z,1628908166.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:29:26.789Z,1628908166.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,006BE,183,80,80,87,FF
2021-08-14T02:29:26.790Z,1628908166.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:29:27.225Z,1628908167.225 [Micromodem](INFO): Nmea in: $SNTTA,0.053546,,,,022927.10*4C

2021-08-14T02:29:27.257Z,1628908167.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.060005 m, bearing: 179.807776 deg, deltaT: 10.077797 s, approachRate: -0.565600 m/s, LOS rate: 1.205679 deg/s, posRepo size: 4
2021-08-14T02:29:27.259Z,1628908167.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.060005 m,
      bearing: 179.807776 deg,
      approachRate: -0.565600 m/s,
      LOS rate: 1.205679 deg/s,
      cmd update: 3.617038 deg/s,
      cmd heading: 150.289493 deg,
      new cmd heading: 148.601032 deg.

2021-08-14T02:29:29.647Z,1628908169.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:29:30.021Z,1628908170.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:29:30.021Z,1628908170.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:29:30.022Z,1628908170.022 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:29:30.022Z,1628908170.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:29:30.433Z,1628908170.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,006BE,183,80,80,87,FF
2021-08-14T02:29:30.433Z,1628908170.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:29:30.433Z,1628908170.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:29:30.434Z,1628908170.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:29:30.829Z,1628908170.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:29:31.229Z,1628908171.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,00690,187,80,80,9B,FF
2021-08-14T02:29:31.230Z,1628908171.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:29:31.653Z,1628908171.653 [Micromodem](INFO): Nmea in: $SNTTA,0.421617,0.421486,,,022931.55*5F

2021-08-14T02:29:31.747Z,1628908171.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.299999 m, bearing: 181.158364 deg, deltaT: 4.409829 s, approachRate: -0.625876 m/s, LOS rate: 0.306268 deg/s, posRepo size: 4
2021-08-14T02:29:31.754Z,1628908171.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.299999 m,
      bearing: 181.158364 deg,
      approachRate: -0.625876 m/s,
      LOS rate: 0.306268 deg/s,
      cmd update: 0.918803 deg/s,
      cmd heading: 166.313413 deg,
      new cmd heading: 168.124305 deg.

2021-08-14T02:29:33.755Z,1628908173.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:29:34.069Z,1628908174.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:29:34.069Z,1628908174.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:29:34.069Z,1628908174.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:29:34.070Z,1628908174.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:29:34.466Z,1628908174.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,00690,187,80,80,9B,FF
2021-08-14T02:29:34.466Z,1628908174.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:29:34.466Z,1628908174.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:29:34.468Z,1628908174.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:29:34.869Z,1628908174.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:29:35.274Z,1628908175.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E90,000,00669,186,80,80,B2,FF
2021-08-14T02:29:35.274Z,1628908175.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:29:35.698Z,1628908175.698 [Micromodem](INFO): Nmea in: $SNTTA,0.364492,0.366979,,,022935.58*56

2021-08-14T02:29:35.802Z,1628908175.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.960007 m, bearing: 184.977738 deg, deltaT: 4.083697 s, approachRate: -0.573008 m/s, LOS rate: 0.935273 deg/s, posRepo size: 4
2021-08-14T02:29:35.808Z,1628908175.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.960007 m,
      bearing: 184.977738 deg,
      approachRate: -0.573008 m/s,
      LOS rate: 0.935273 deg/s,
      cmd update: 2.805820 deg/s,
      cmd heading: 170.057734 deg,
      new cmd heading: 170.498445 deg.

2021-08-14T02:29:38.202Z,1628908178.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:29:38.505Z,1628908178.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:29:38.505Z,1628908178.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:29:38.505Z,1628908178.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:29:38.506Z,1628908178.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:29:38.913Z,1628908178.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E90,000,00669,186,80,80,B2,FF
2021-08-14T02:29:38.914Z,1628908178.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:29:38.914Z,1628908178.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:29:38.915Z,1628908178.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:29:39.362Z,1628908179.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:29:39.769Z,1628908179.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,0063C,184,80,80,A6,FF
2021-08-14T02:29:39.770Z,1628908179.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:29:40.169Z,1628908180.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022940.02*51

2021-08-14T02:29:40.208Z,1628908180.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 181.076033 deg, deltaT: 4.564585 s, approachRate: -0.591511 m/s, LOS rate: -0.854778 deg/s, posRepo size: 4
2021-08-14T02:29:40.210Z,1628908180.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.260006 m,
      bearing: 181.076033 deg,
      approachRate: -0.591511 m/s,
      LOS rate: -0.854778 deg/s,
      cmd update: -2.564333 deg/s,
      cmd heading: 182.877499 deg,
      new cmd heading: 183.767267 deg.

2021-08-14T02:29:42.603Z,1628908182.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:29:42.985Z,1628908182.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:29:42.985Z,1628908182.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:29:42.985Z,1628908182.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:29:42.986Z,1628908182.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:29:43.405Z,1628908183.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,0063C,184,80,80,A6,FF
2021-08-14T02:29:43.405Z,1628908183.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:29:43.406Z,1628908183.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:29:43.420Z,1628908183.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:29:43.797Z,1628908183.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:29:43.817Z,1628908183.817 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:29:44.193Z,1628908184.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,0060B,186,80,80,9D,FF
2021-08-14T02:29:44.193Z,1628908184.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:29:44.619Z,1628908184.619 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022944.53*51

2021-08-14T02:29:44.654Z,1628908184.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.320004 m, bearing: 179.053177 deg, deltaT: 4.364003 s, approachRate: -0.673694 m/s, LOS rate: -0.463532 deg/s, posRepo size: 4
2021-08-14T02:29:44.656Z,1628908184.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.320004 m,
      bearing: 179.053177 deg,
      approachRate: -0.673694 m/s,
      LOS rate: -0.463532 deg/s,
      cmd update: -1.390597 deg/s,
      cmd heading: 171.717533 deg,
      new cmd heading: 170.664180 deg.

2021-08-14T02:29:47.074Z,1628908187.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:29:47.473Z,1628908187.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:29:47.473Z,1628908187.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:29:47.473Z,1628908187.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:29:47.474Z,1628908187.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:29:47.837Z,1628908187.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A3,000,0060B,186,80,80,9D,FF
2021-08-14T02:29:47.837Z,1628908187.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:29:47.837Z,1628908187.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:29:47.839Z,1628908187.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:29:48.236Z,1628908188.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:29:48.649Z,1628908188.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,005DC,183,80,80,74,FF
2021-08-14T02:29:48.649Z,1628908188.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:29:49.102Z,1628908189.102 [Micromodem](INFO): Nmea in: $SNTTA,0.063028,,,,022948.95*46

2021-08-14T02:29:49.136Z,1628908189.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.499996 m, bearing: 180.199583 deg, deltaT: 4.456534 s, approachRate: -0.632780 m/s, LOS rate: 0.257242 deg/s, posRepo size: 4
2021-08-14T02:29:49.138Z,1628908189.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.499996 m,
      bearing: 180.199583 deg,
      approachRate: -0.632780 m/s,
      LOS rate: 0.257242 deg/s,
      cmd update: 0.771725 deg/s,
      cmd heading: 165.560243 deg,
      new cmd heading: 164.913586 deg.

2021-08-14T02:29:51.551Z,1628908191.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:29:51.869Z,1628908191.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:29:51.869Z,1628908191.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:29:51.869Z,1628908191.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:29:51.870Z,1628908191.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:29:52.277Z,1628908192.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,005DC,183,80,80,74,FF
2021-08-14T02:29:52.277Z,1628908192.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:29:52.277Z,1628908192.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:29:52.279Z,1628908192.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:29:52.719Z,1628908192.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:29:53.081Z,1628908193.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,005AC,186,80,80,B0,FF
2021-08-14T02:29:53.081Z,1628908193.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:29:53.535Z,1628908193.535 [Micromodem](INFO): Nmea in: $SNTTA,0.050275,,,,022953.39*40

2021-08-14T02:29:53.571Z,1628908193.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.619995 m, bearing: 182.120260 deg, deltaT: 4.382702 s, approachRate: -0.657129 m/s, LOS rate: 0.438240 deg/s, posRepo size: 4
2021-08-14T02:29:53.573Z,1628908193.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.619995 m,
      bearing: 182.120260 deg,
      approachRate: -0.657129 m/s,
      LOS rate: 0.438240 deg/s,
      cmd update: 1.314721 deg/s,
      cmd heading: 168.977044 deg,
      new cmd heading: 169.341871 deg.

2021-08-14T02:29:55.966Z,1628908195.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:29:56.310Z,1628908196.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:29:56.310Z,1628908196.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:29:56.310Z,1628908196.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:29:56.311Z,1628908196.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:29:56.749Z,1628908196.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,005AC,186,80,80,B0,FF
2021-08-14T02:29:56.749Z,1628908196.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:29:56.749Z,1628908196.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:29:56.751Z,1628908196.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:29:57.132Z,1628908197.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:29:57.538Z,1628908197.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,0057C,187,80,80,7A,FF
2021-08-14T02:29:57.538Z,1628908197.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:29:57.952Z,1628908197.952 [Micromodem](INFO): Nmea in: $SNTTA,0.079613,,,,022957.86*4F

2021-08-14T02:29:58.001Z,1628908198.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.739998 m, bearing: 182.728106 deg, deltaT: 4.511721 s, approachRate: -0.638337 m/s, LOS rate: 0.134726 deg/s, posRepo size: 4
2021-08-14T02:29:58.003Z,1628908198.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.739998 m,
      bearing: 182.728106 deg,
      approachRate: -0.638337 m/s,
      LOS rate: 0.134726 deg/s,
      cmd update: 0.404178 deg/s,
      cmd heading: 174.903398 deg,
      new cmd heading: 175.422252 deg.

2021-08-14T02:30:00.386Z,1628908200.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:00.782Z,1628908200.782 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:30:00.783Z,1628908200.783 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:30:00.783Z,1628908200.783 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:30:00.785Z,1628908200.785 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:30:01.169Z,1628908201.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,0057C,187,80,80,7A,FF
2021-08-14T02:30:01.169Z,1628908201.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:30:01.169Z,1628908201.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:30:01.171Z,1628908201.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:30:01.571Z,1628908201.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:30:01.961Z,1628908201.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,0054B,184,80,80,8F,FF
2021-08-14T02:30:01.962Z,1628908201.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:30:02.402Z,1628908202.402 [Micromodem](INFO): Nmea in: $SNTTA,0.013544,,,,023002.28*4E

2021-08-14T02:30:02.445Z,1628908202.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.799999 m, bearing: 183.862518 deg, deltaT: 4.379433 s, approachRate: -0.671319 m/s, LOS rate: 0.259032 deg/s, posRepo size: 4
2021-08-14T02:30:02.447Z,1628908202.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.799999 m,
      bearing: 183.862518 deg,
      approachRate: -0.671319 m/s,
      LOS rate: 0.259032 deg/s,
      cmd update: 0.777095 deg/s,
      cmd heading: 176.675109 deg,
      new cmd heading: 176.857266 deg.

2021-08-14T02:30:04.850Z,1628908204.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:05.205Z,1628908205.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:30:05.205Z,1628908205.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:30:05.205Z,1628908205.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:30:05.206Z,1628908205.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:30:05.610Z,1628908205.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,0054B,184,80,80,8F,FF
2021-08-14T02:30:05.610Z,1628908205.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:30:05.611Z,1628908205.611 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:30:05.613Z,1628908205.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:30:06.021Z,1628908206.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:30:06.410Z,1628908206.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,0051B,183,80,80,A8,FF
2021-08-14T02:30:06.411Z,1628908206.411 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:30:06.850Z,1628908206.850 [Micromodem](INFO): Nmea in: $SNTTA,0.039986,,,,023006.72*4F

2021-08-14T02:30:06.876Z,1628908206.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.920002 m, bearing: 183.268442 deg, deltaT: 4.490722 s, approachRate: -0.641322 m/s, LOS rate: -0.132290 deg/s, posRepo size: 4
2021-08-14T02:30:06.878Z,1628908206.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.920002 m,
      bearing: 183.268442 deg,
      approachRate: -0.641322 m/s,
      LOS rate: -0.132290 deg/s,
      cmd update: -0.396869 deg/s,
      cmd heading: 180.161675 deg,
      new cmd heading: 180.472402 deg.

2021-08-14T02:30:09.254Z,1628908209.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:09.641Z,1628908209.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:30:09.641Z,1628908209.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:30:09.641Z,1628908209.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:30:09.642Z,1628908209.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:30:10.053Z,1628908210.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,0051B,183,80,80,A8,FF
2021-08-14T02:30:10.053Z,1628908210.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:30:10.054Z,1628908210.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:30:10.055Z,1628908210.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:30:10.452Z,1628908210.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:30:11.285Z,1628908211.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023011.17*59

2021-08-14T02:30:11.780Z,1628908211.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:13.690Z,1628908213.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,183,80,80,A8,FF
2021-08-14T02:30:13.691Z,1628908213.691 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,183,80,80,A8,FF
2021-08-14T02:30:13.691Z,1628908213.691 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:30:14.537Z,1628908214.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:14.893Z,1628908214.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:30:14.893Z,1628908214.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:30:14.893Z,1628908214.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:30:14.894Z,1628908214.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:30:15.298Z,1628908215.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,183,80,80,A8,FF
2021-08-14T02:30:15.298Z,1628908215.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:30:15.298Z,1628908215.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:30:15.301Z,1628908215.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:30:15.729Z,1628908215.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:30:16.105Z,1628908216.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,004B4,184,80,80,9D,FF
2021-08-14T02:30:16.105Z,1628908216.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:30:16.561Z,1628908216.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023016.41*5D

2021-08-14T02:30:16.583Z,1628908216.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.740002 m, bearing: 184.223452 deg, deltaT: 9.674439 s, approachRate: -0.638797 m/s, LOS rate: 0.098715 deg/s, posRepo size: 4
2021-08-14T02:30:16.611Z,1628908216.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.74 m.
2021-08-14T02:30:16.614Z,1628908216.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.740002 m,
      bearing: 184.223452 deg,
      approachRate: -0.638797 m/s,
      LOS rate: 0.098715 deg/s,
      cmd update: 0.296145 deg/s,
      cmd heading: 176.322322 deg,
      new cmd heading: 176.150406 deg.

2021-08-14T02:30:16.980Z,1628908216.980 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T02:30:16.996Z,1628908216.996 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:30:16.997Z,1628908216.997 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:30:16.997Z,1628908216.997 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:30:16.998Z,1628908216.998 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:30:16.998Z,1628908216.998 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:30:16.998Z,1628908216.998 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:30:17.446Z,1628908217.446 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:30:17.447Z,1628908217.447 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:30:17.447Z,1628908217.447 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:30:17.447Z,1628908217.447 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:30:18.970Z,1628908218.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:19.345Z,1628908219.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:30:19.345Z,1628908219.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:30:19.345Z,1628908219.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:30:19.346Z,1628908219.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:30:19.769Z,1628908219.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,004B4,184,80,80,9D,FF
2021-08-14T02:30:19.769Z,1628908219.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:30:19.769Z,1628908219.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:30:19.771Z,1628908219.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:30:20.148Z,1628908220.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:30:20.557Z,1628908220.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,0048C,186,80,80,4D,FF
2021-08-14T02:30:20.558Z,1628908220.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:30:20.607Z,1628908220.607 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:30:20.979Z,1628908220.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023020.88*5D

2021-08-14T02:30:21.005Z,1628908221.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.340000 m, bearing: 180.167181 deg, deltaT: 4.449710 s, approachRate: -0.539361 m/s, LOS rate: -0.911581 deg/s, posRepo size: 4
2021-08-14T02:30:21.005Z,1628908221.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.34 m.
2021-08-14T02:30:21.007Z,1628908221.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 180.167181 deg,
      approachRate: -0.539361 m/s,
      LOS rate: -0.911581 deg/s,
      cmd update: -2.734743 deg/s,
      cmd heading: 177.640042 deg,
      new cmd heading: 177.759941 deg.

2021-08-14T02:30:23.459Z,1628908223.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:23.781Z,1628908223.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:30:23.781Z,1628908223.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:30:23.781Z,1628908223.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:30:23.782Z,1628908223.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:30:24.185Z,1628908224.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,0048C,186,80,80,4D,FF
2021-08-14T02:30:24.185Z,1628908224.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:30:24.185Z,1628908224.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:30:24.187Z,1628908224.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:30:24.617Z,1628908224.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:30:25.001Z,1628908225.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFD,000,0045F,183,80,80,71,FF
2021-08-14T02:30:25.001Z,1628908225.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:30:25.060Z,1628908225.060 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:30:25.461Z,1628908225.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023025.30*5B

2021-08-14T02:30:25.531Z,1628908225.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.639999 m, bearing: 184.757437 deg, deltaT: 4.453027 s, approachRate: -0.606329 m/s, LOS rate: 1.030817 deg/s, posRepo size: 4
2021-08-14T02:30:25.531Z,1628908225.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.64 m.
2021-08-14T02:30:25.537Z,1628908225.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.639999 m,
      bearing: 184.757437 deg,
      approachRate: -0.606329 m/s,
      LOS rate: 1.030817 deg/s,
      cmd update: 3.092451 deg/s,
      cmd heading: 165.462659 deg,
      new cmd heading: 164.155602 deg.

2021-08-14T02:30:27.850Z,1628908227.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:28.233Z,1628908228.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:30:28.233Z,1628908228.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:30:28.234Z,1628908228.234 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:30:28.235Z,1628908228.235 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:30:28.629Z,1628908228.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFD,000,0045F,183,80,80,71,FF
2021-08-14T02:30:28.629Z,1628908228.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:30:28.629Z,1628908228.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:30:28.631Z,1628908228.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:30:29.063Z,1628908229.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:30:29.086Z,1628908229.086 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:30:29.870Z,1628908229.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023029.74*57

2021-08-14T02:30:30.739Z,1628908230.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:32.269Z,1628908232.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,183,80,80,71,FF
2021-08-14T02:30:32.269Z,1628908232.269 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,183,80,80,71,FF
2021-08-14T02:30:32.269Z,1628908232.269 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:30:33.529Z,1628908233.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:33.894Z,1628908233.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:30:33.894Z,1628908233.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:30:33.894Z,1628908233.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:30:33.895Z,1628908233.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:30:34.298Z,1628908234.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,183,80,80,71,FF
2021-08-14T02:30:34.298Z,1628908234.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:30:34.299Z,1628908234.299 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:30:34.302Z,1628908234.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:30:34.707Z,1628908234.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:30:35.102Z,1628908235.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,003F7,184,80,80,59,FF
2021-08-14T02:30:35.102Z,1628908235.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:30:35.123Z,1628908235.123 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:30:35.530Z,1628908235.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023035.41*5C

2021-08-14T02:30:35.565Z,1628908235.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 183.363381 deg, deltaT: 10.062713 s, approachRate: -0.620111 m/s, LOS rate: -0.138537 deg/s, posRepo size: 4
2021-08-14T02:30:35.566Z,1628908235.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.40 m.
2021-08-14T02:30:35.566Z,1628908235.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 23.40 m.
2021-08-14T02:30:35.567Z,1628908235.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T02:30:35.569Z,1628908235.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.400002 m,
      bearing: 183.363381 deg,
      approachRate: -0.620111 m/s,
      LOS rate: -0.138537 deg/s,
      cmd update: -0.415610 deg/s,
      cmd heading: 196.594672 deg,
      new cmd heading: 197.973283 deg.

2021-08-14T02:30:37.957Z,1628908237.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:38.333Z,1628908238.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:30:38.333Z,1628908238.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:30:38.333Z,1628908238.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:30:38.334Z,1628908238.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:30:38.765Z,1628908238.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,003F7,184,80,80,59,FF
2021-08-14T02:30:38.765Z,1628908238.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:30:38.765Z,1628908238.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:30:38.767Z,1628908238.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:30:39.144Z,1628908239.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:30:39.537Z,1628908239.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15A,000,003CA,186,80,80,9F,FF
2021-08-14T02:30:39.537Z,1628908239.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:30:39.614Z,1628908239.614 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:30:39.963Z,1628908239.963 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023039.88*55

2021-08-14T02:30:40.013Z,1628908240.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 182.655241 deg, deltaT: 4.491748 s, approachRate: -0.601102 m/s, LOS rate: -0.157654 deg/s, posRepo size: 4
2021-08-14T02:30:40.015Z,1628908240.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.700001 m,
      bearing: 182.655241 deg,
      approachRate: -0.601102 m/s,
      LOS rate: -0.157654 deg/s,
      cmd update: -0.472961 deg/s,
      cmd heading: 194.732848 deg,
      new cmd heading: 194.561389 deg.

2021-08-14T02:30:42.383Z,1628908242.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:42.769Z,1628908242.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:30:42.769Z,1628908242.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:30:42.769Z,1628908242.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:30:42.770Z,1628908242.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:30:43.181Z,1628908243.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15A,000,003CA,186,80,80,9F,FF
2021-08-14T02:30:43.181Z,1628908243.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:30:43.181Z,1628908243.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:30:43.183Z,1628908243.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:30:43.585Z,1628908243.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:30:43.989Z,1628908243.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,003A4,185,80,80,9A,FF
2021-08-14T02:30:43.990Z,1628908243.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:30:44.021Z,1628908244.021 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:30:44.425Z,1628908244.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023044.29*54

2021-08-14T02:30:44.447Z,1628908244.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 182.322665 deg, deltaT: 4.406386 s, approachRate: -0.517431 m/s, LOS rate: -0.075476 deg/s, posRepo size: 4
2021-08-14T02:30:44.449Z,1628908244.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.420000 m,
      bearing: 182.322665 deg,
      approachRate: -0.517431 m/s,
      LOS rate: -0.075476 deg/s,
      cmd update: -0.226427 deg/s,
      cmd heading: 192.643106 deg,
      new cmd heading: 192.440028 deg.

2021-08-14T02:30:46.850Z,1628908246.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:47.225Z,1628908247.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:30:47.225Z,1628908247.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:30:47.225Z,1628908247.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:30:47.226Z,1628908247.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:30:47.617Z,1628908247.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,003A4,185,80,80,9A,FF
2021-08-14T02:30:47.617Z,1628908247.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:30:47.618Z,1628908247.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:30:47.619Z,1628908247.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:30:48.119Z,1628908248.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:30:48.481Z,1628908248.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11C,000,00389,186,80,80,84,FF
2021-08-14T02:30:48.481Z,1628908248.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:30:48.501Z,1628908248.501 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:30:48.893Z,1628908248.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023048.73*57

2021-08-14T02:30:48.919Z,1628908248.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.800003 m, bearing: 184.803008 deg, deltaT: 4.480402 s, approachRate: -0.361574 m/s, LOS rate: 0.553598 deg/s, posRepo size: 4
2021-08-14T02:30:48.937Z,1628908248.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.800003 m,
      bearing: 184.803008 deg,
      approachRate: -0.361574 m/s,
      LOS rate: 0.553598 deg/s,
      cmd update: 1.660794 deg/s,
      cmd heading: 191.628622 deg,
      new cmd heading: 191.533329 deg.

2021-08-14T02:30:51.334Z,1628908251.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:51.724Z,1628908251.724 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:30:51.724Z,1628908251.724 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:30:51.724Z,1628908251.724 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:30:51.725Z,1628908251.725 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:30:52.113Z,1628908252.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11C,000,00389,186,80,80,84,FF
2021-08-14T02:30:52.114Z,1628908252.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:30:52.114Z,1628908252.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:30:52.115Z,1628908252.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:30:52.517Z,1628908252.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:30:52.921Z,1628908252.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,0035E,185,80,80,67,FF
2021-08-14T02:30:52.922Z,1628908252.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:30:52.983Z,1628908252.983 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:30:53.357Z,1628908253.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023053.23*58

2021-08-14T02:30:53.444Z,1628908253.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.220002 m, bearing: 185.175089 deg, deltaT: 4.486431 s, approachRate: -0.575068 m/s, LOS rate: 0.082935 deg/s, posRepo size: 4
2021-08-14T02:30:53.446Z,1628908253.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.220002 m,
      bearing: 185.175089 deg,
      approachRate: -0.575068 m/s,
      LOS rate: 0.082935 deg/s,
      cmd update: 0.248805 deg/s,
      cmd heading: 199.020162 deg,
      new cmd heading: 199.836021 deg.

2021-08-14T02:30:55.821Z,1628908255.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:30:56.165Z,1628908256.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:30:56.165Z,1628908256.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:30:56.166Z,1628908256.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:30:56.167Z,1628908256.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:30:56.565Z,1628908256.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,0035E,185,80,80,67,FF
2021-08-14T02:30:56.565Z,1628908256.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:30:56.565Z,1628908256.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:30:56.567Z,1628908256.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:30:56.977Z,1628908256.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:30:57.374Z,1628908257.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,00328,187,80,80,A3,FF
2021-08-14T02:30:57.375Z,1628908257.375 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:30:57.467Z,1628908257.467 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:30:57.817Z,1628908257.817 [Micromodem](INFO): Nmea in: $SNTTA,0.049998,,,,023057.68*48

2021-08-14T02:30:57.905Z,1628908257.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.980000 m, bearing: 177.204586 deg, deltaT: 4.479243 s, approachRate: -0.723337 m/s, LOS rate: -1.779431 deg/s, posRepo size: 4
2021-08-14T02:30:57.907Z,1628908257.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.980000 m,
      bearing: 177.204586 deg,
      approachRate: -0.723337 m/s,
      LOS rate: -1.779431 deg/s,
      cmd update: -5.338292 deg/s,
      cmd heading: 200.142495 deg,
      new cmd heading: 200.253138 deg.

2021-08-14T02:31:00.226Z,1628908260.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:31:00.618Z,1628908260.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:31:00.618Z,1628908260.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:31:00.618Z,1628908260.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:31:00.619Z,1628908260.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:31:01.009Z,1628908261.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,00328,187,80,80,A3,FF
2021-08-14T02:31:01.009Z,1628908261.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:31:01.009Z,1628908261.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:31:01.011Z,1628908261.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:31:01.462Z,1628908261.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:31:01.817Z,1628908261.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CB,000,00306,186,80,80,AD,FF
2021-08-14T02:31:01.817Z,1628908261.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:31:01.939Z,1628908261.939 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:31:02.275Z,1628908262.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.939999 m, bearing: 180.028951 deg, deltaT: 4.471680 s, approachRate: -0.456205 m/s, LOS rate: 0.631612 deg/s, posRepo size: 4
2021-08-14T02:31:02.278Z,1628908262.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.939999 m,
      bearing: 180.028951 deg,
      approachRate: -0.456205 m/s,
      LOS rate: 0.631612 deg/s,
      cmd update: 1.894835 deg/s,
      cmd heading: 176.250589 deg,
      new cmd heading: 174.435041 deg.

2021-08-14T02:31:04.710Z,1628908264.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:31:05.053Z,1628908265.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:31:05.053Z,1628908265.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:31:05.053Z,1628908265.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:31:05.054Z,1628908265.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:31:05.477Z,1628908265.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CB,000,00306,186,80,80,AD,FF
2021-08-14T02:31:05.477Z,1628908265.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:31:05.477Z,1628908265.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:31:05.479Z,1628908265.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:31:05.633Z,1628908265.633 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T02:31:05.887Z,1628908265.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:31:06.277Z,1628908266.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F2,000,002E7,186,80,80,BF,FF
2021-08-14T02:31:06.277Z,1628908266.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:31:06.338Z,1628908266.338 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:31:06.729Z,1628908266.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023106.59*54

2021-08-14T02:31:06.790Z,1628908266.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 177.273161 deg, deltaT: 4.399280 s, approachRate: -0.422796 m/s, LOS rate: -0.626418 deg/s, posRepo size: 4
2021-08-14T02:31:06.793Z,1628908266.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 177.273161 deg,
      approachRate: -0.422796 m/s,
      LOS rate: -0.626418 deg/s,
      cmd update: -1.879255 deg/s,
      cmd heading: 184.579086 deg,
      new cmd heading: 185.450142 deg.

2021-08-14T02:31:09.143Z,1628908269.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:31:09.505Z,1628908269.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:31:09.505Z,1628908269.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:31:09.505Z,1628908269.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:31:09.506Z,1628908269.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:31:09.905Z,1628908269.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F2,000,002E7,186,80,80,BF,FF
2021-08-14T02:31:09.905Z,1628908269.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:31:09.905Z,1628908269.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:31:09.907Z,1628908269.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:31:10.315Z,1628908270.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:31:10.737Z,1628908270.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F1,000,002C9,186,80,80,6F,FF
2021-08-14T02:31:10.737Z,1628908270.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:31:10.817Z,1628908270.817 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:31:11.149Z,1628908271.149 [Micromodem](INFO): Nmea in: $SNTTA,0.031442,,,,023111.02*42

2021-08-14T02:31:11.181Z,1628908271.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.279998 m, bearing: 173.507801 deg, deltaT: 4.479608 s, approachRate: -0.401821 m/s, LOS rate: -0.840556 deg/s, posRepo size: 4
2021-08-14T02:31:11.183Z,1628908271.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 173.507801 deg,
      approachRate: -0.401821 m/s,
      LOS rate: -0.840556 deg/s,
      cmd update: -2.521667 deg/s,
      cmd heading: 176.160483 deg,
      new cmd heading: 175.464566 deg.

2021-08-14T02:31:13.573Z,1628908273.573 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:31:13.589Z,1628908273.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:31:13.949Z,1628908273.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:31:13.949Z,1628908273.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:31:13.949Z,1628908273.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:31:13.950Z,1628908273.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:31:14.362Z,1628908274.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F1,000,002C9,186,80,80,6F,FF
2021-08-14T02:31:14.362Z,1628908274.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:31:14.363Z,1628908274.363 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:31:14.364Z,1628908274.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:31:14.764Z,1628908274.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:31:15.161Z,1628908275.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,097,000,002C4,187,80,80,5F,FF
2021-08-14T02:31:15.162Z,1628908275.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:31:15.186Z,1628908275.186 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:31:15.597Z,1628908275.597 [Micromodem](INFO): Nmea in: $SNTTA,0.034114,,,,023115.48*4B

2021-08-14T02:31:15.652Z,1628908275.652 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T02:31:15.652Z,1628908275.652 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T02:31:15.652Z,1628908275.652 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T02:31:15.653Z,1628908275.653 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T02:31:15.653Z,1628908275.653 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T02:31:15.653Z,1628908275.653 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.979999 m 
2021-08-14T02:31:15.653Z,1628908275.653 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T02:31:15.654Z,1628908275.654 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T02:31:15.654Z,1628908275.654 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T02:31:15.669Z,1628908275.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.979999 m, bearing: 171.398447 deg, deltaT: 4.368680 s, approachRate: -0.068671 m/s, LOS rate: -0.482835 deg/s, posRepo size: 4
2021-08-14T02:31:15.671Z,1628908275.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.979999 m,
      bearing: 171.398447 deg,
      approachRate: -0.068671 m/s,
      LOS rate: -0.482835 deg/s,
      cmd update: -1.448506 deg/s,
      cmd heading: 165.134053 deg,
      new cmd heading: 163.941421 deg.

2021-08-14T02:31:16.006Z,1628908276.006 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T023116: (41.552319, -70.708603)
2021-08-14T02:31:16.006Z,1628908276.006 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T02:31:16.006Z,1628908276.006 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T02:31:16.006Z,1628908276.006 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T02:31:16.006Z,1628908276.006 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T02:31:16.006Z,1628908276.006 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T02:31:16.006Z,1628908276.006 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T02:31:16.007Z,1628908276.007 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T02:31:16.007Z,1628908276.007 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T02:31:16.403Z,1628908276.403 [UniversalFixResidualReporter](INFO): Fix residual: 3.0 %DT, over the last 631.6 m. Residual distance 18.7 m at bearing 149.1 degrees. Fix at (41.5533, -70.7054) with 0.0 m made good.
2021-08-14T02:31:18.034Z,1628908278.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:31:18.398Z,1628908278.398 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:31:18.398Z,1628908278.398 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:31:18.398Z,1628908278.398 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:31:18.399Z,1628908278.399 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:31:18.793Z,1628908278.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
097,000,002C4,187,80,80,5F,FF
2021-08-14T02:31:18.793Z,1628908278.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:31:18.793Z,1628908278.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:31:18.795Z,1628908278.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:31:19.201Z,1628908279.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:31:19.605Z,1628908279.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,002D6,184,80,80,7F,FF
2021-08-14T02:31:19.605Z,1628908279.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:31:19.693Z,1628908279.693 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:31:20.051Z,1628908280.051 [Micromodem](INFO): Nmea in: $SNTTA,0.026955,,,,023119.91*4D

2021-08-14T02:31:20.079Z,1628908280.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.059999 m, bearing: 164.027252 deg, deltaT: 4.507560 s, approachRate: 0.239597 m/s, LOS rate: -1.635296 deg/s, posRepo size: 4
2021-08-14T02:31:20.081Z,1628908280.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 164.027252 deg,
      approachRate: 0.239597 m/s,
      LOS rate: -1.635296 deg/s,
      cmd update: -4.905888 deg/s,
      cmd heading: 158.631986 deg,
      new cmd heading: 158.042683 deg.

2021-08-14T02:31:22.451Z,1628908282.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:31:22.841Z,1628908282.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:31:22.841Z,1628908282.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:31:22.841Z,1628908282.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:31:22.842Z,1628908282.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:31:23.237Z,1628908283.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,002D6,184,80,80,7F,FF
2021-08-14T02:31:23.237Z,1628908283.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:31:23.237Z,1628908283.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:31:23.239Z,1628908283.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:31:23.665Z,1628908283.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:31:24.080Z,1628908284.080 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,002F8,185,80,80,3B,FF
2021-08-14T02:31:24.083Z,1628908284.083 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:31:24.138Z,1628908284.138 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:31:24.490Z,1628908284.490 [Micromodem](INFO): Nmea in: $SNTTA,0.022000,,,,023124.35*40

2021-08-14T02:31:24.506Z,1628908284.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.100000 m, bearing: 157.291989 deg, deltaT: 4.443867 s, approachRate: 0.459060 m/s, LOS rate: -1.515631 deg/s, posRepo size: 4
2021-08-14T02:31:24.508Z,1628908284.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.100000 m,
      bearing: 157.291989 deg,
      approachRate: 0.459060 m/s,
      LOS rate: -1.515631 deg/s,
      cmd update: -4.546894 deg/s,
      cmd heading: 136.837005 deg,
      new cmd heading: 134.917258 deg.

2021-08-14T02:31:26.922Z,1628908286.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:31:27.277Z,1628908287.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:31:27.277Z,1628908287.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:31:27.277Z,1628908287.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:31:27.278Z,1628908287.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:31:27.719Z,1628908287.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,002F8,185,80,80,3B,FF
2021-08-14T02:31:27.720Z,1628908287.720 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:31:27.721Z,1628908287.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:31:27.723Z,1628908287.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:31:28.100Z,1628908288.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:31:28.517Z,1628908288.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,0031C,187,80,80,79,FF
2021-08-14T02:31:28.517Z,1628908288.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:31:28.537Z,1628908288.537 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:31:28.933Z,1628908288.933 [Micromodem](INFO): Nmea in: $SNTTA,0.027653,,,,023128.83*44

2021-08-14T02:31:28.969Z,1628908288.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 129.877522 deg, deltaT: 4.399686 s, approachRate: 0.490944 m/s, LOS rate: -6.231005 deg/s, posRepo size: 4
2021-08-14T02:31:28.971Z,1628908288.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 129.877522 deg,
      approachRate: 0.490944 m/s,
      LOS rate: -6.231005 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 116.740967 deg,
      new cmd heading: 114.762241 deg.

2021-08-14T02:31:31.437Z,1628908291.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:31:31.777Z,1628908291.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:31:31.777Z,1628908291.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:31:31.777Z,1628908291.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:31:31.778Z,1628908291.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:31:32.141Z,1628908292.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
111,000,0031C,187,80,80,79,FF
2021-08-14T02:31:32.141Z,1628908292.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:31:32.141Z,1628908292.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:31:32.143Z,1628908292.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:31:32.568Z,1628908292.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:31:32.949Z,1628908292.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,0034E,186,80,80,74,FF
2021-08-14T02:31:32.949Z,1628908292.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:31:33.014Z,1628908293.014 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:31:33.435Z,1628908293.435 [Micromodem](INFO): Nmea in: $SNTTA,0.021727,,,,023133.25*46

2021-08-14T02:31:33.486Z,1628908293.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.260000 m, bearing: 114.171905 deg, deltaT: 4.476201 s, approachRate: 0.670211 m/s, LOS rate: -3.508693 deg/s, posRepo size: 4
2021-08-14T02:31:33.487Z,1628908293.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.26 m. Rolling out.
2021-08-14T02:31:33.487Z,1628908293.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T02:31:35.891Z,1628908295.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:31:36.181Z,1628908296.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:31:36.181Z,1628908296.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:31:36.181Z,1628908296.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:31:36.182Z,1628908296.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:31:36.609Z,1628908296.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,0034E,186,80,80,74,FF
2021-08-14T02:31:36.609Z,1628908296.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:31:36.609Z,1628908296.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:31:36.611Z,1628908296.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:31:37.002Z,1628908297.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:31:37.433Z,1628908297.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F4,000,0035D,189,80,80,89,FF
2021-08-14T02:31:37.434Z,1628908297.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:31:37.515Z,1628908297.515 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:31:37.818Z,1628908297.818 [Micromodem](INFO): Nmea in: $SNTTA,0.032911,,,,023137.72*49

2021-08-14T02:31:37.858Z,1628908297.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.159999 m, bearing: 73.624453 deg, deltaT: 4.506204 s, approachRate: 0.199724 m/s, LOS rate: -8.998140 deg/s, posRepo size: 4
2021-08-14T02:31:40.250Z,1628908300.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:31:40.647Z,1628908300.647 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:31:40.647Z,1628908300.647 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:31:40.648Z,1628908300.648 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:31:40.649Z,1628908300.649 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:31:41.041Z,1628908301.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F4,000,0035D,189,80,80,89,FF
2021-08-14T02:31:41.041Z,1628908301.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:31:41.041Z,1628908301.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:31:41.043Z,1628908301.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:31:41.475Z,1628908301.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:31:41.841Z,1628908301.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,105,000,0037B,186,80,80,53,FF
2021-08-14T02:31:41.842Z,1628908301.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:31:41.943Z,1628908301.943 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:31:42.289Z,1628908302.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023142.15*5C

2021-08-14T02:31:42.319Z,1628908302.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 80.120257 deg, deltaT: 4.427698 s, approachRate: 0.406532 m/s, LOS rate: 1.467084 deg/s, posRepo size: 4
2021-08-14T02:31:44.747Z,1628908304.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:31:45.069Z,1628908305.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:31:45.069Z,1628908305.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:31:45.069Z,1628908305.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:31:45.070Z,1628908305.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:31:45.479Z,1628908305.479 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
105,000,0037B,186,80,80,53,FF
2021-08-14T02:31:45.479Z,1628908305.479 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:31:45.480Z,1628908305.480 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:31:45.482Z,1628908305.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:31:45.885Z,1628908305.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:31:46.281Z,1628908306.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,00392,186,80,80,68,FF
2021-08-14T02:31:46.282Z,1628908306.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:31:46.364Z,1628908306.364 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:31:46.737Z,1628908306.737 [Micromodem](INFO): Nmea in: $SNTTA,0.031023,,,,023146.59*4D

2021-08-14T02:31:46.782Z,1628908306.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.339998 m, bearing: 52.015698 deg, deltaT: 4.416722 s, approachRate: 0.312448 m/s, LOS rate: -6.363216 deg/s, posRepo size: 4
2021-08-14T02:31:47.127Z,1628908307.127 [PowerOnly](INFO): Powering down loadControl
2021-08-14T02:31:49.182Z,1628908309.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:31:49.567Z,1628908309.567 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:31:49.567Z,1628908309.567 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:31:49.567Z,1628908309.567 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:31:49.569Z,1628908309.569 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:31:49.969Z,1628908309.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,00392,186,80,80,68,FF
2021-08-14T02:31:49.969Z,1628908309.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:31:49.969Z,1628908309.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:31:49.971Z,1628908309.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:31:50.383Z,1628908310.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:31:50.773Z,1628908310.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,003B6,186,80,80,61,FF
2021-08-14T02:31:50.773Z,1628908310.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:31:50.827Z,1628908310.827 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:31:51.225Z,1628908311.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023151.08*52

2021-08-14T02:31:51.246Z,1628908311.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.499998 m, bearing: 44.049488 deg, deltaT: 4.464090 s, approachRate: 0.483861 m/s, LOS rate: -1.784509 deg/s, posRepo size: 4
2021-08-14T02:31:53.714Z,1628908313.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:31:54.009Z,1628908314.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:31:54.009Z,1628908314.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:31:54.009Z,1628908314.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:31:54.010Z,1628908314.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:31:54.416Z,1628908314.416 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,003B6,186,80,80,61,FF
2021-08-14T02:31:54.417Z,1628908314.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:31:54.417Z,1628908314.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:31:54.420Z,1628908314.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:31:54.808Z,1628908314.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:31:55.217Z,1628908315.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,214,000,003D1,187,80,80,4F,FF
2021-08-14T02:31:55.218Z,1628908315.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:31:55.318Z,1628908315.318 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:31:55.633Z,1628908315.633 [Micromodem](INFO): Nmea in: $SNTTA,0.034263,0.388610,,,023155.53*5C

2021-08-14T02:31:55.724Z,1628908315.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 41.354705 deg, deltaT: 4.489841 s, approachRate: 0.360815 m/s, LOS rate: -0.600196 deg/s, posRepo size: 4
2021-08-14T02:31:58.070Z,1628908318.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:31:58.437Z,1628908318.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:31:58.437Z,1628908318.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:31:58.437Z,1628908318.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:31:58.438Z,1628908318.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:31:58.849Z,1628908318.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
214,000,003D1,187,80,80,4F,FF
2021-08-14T02:31:58.849Z,1628908318.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:31:58.849Z,1628908318.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:31:58.851Z,1628908318.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:31:59.263Z,1628908319.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:31:59.658Z,1628908319.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,354,000,003EA,189,80,80,A7,FF
2021-08-14T02:31:59.658Z,1628908319.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:31:59.766Z,1628908319.766 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:32:00.104Z,1628908320.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023159.97*5C

2021-08-14T02:32:00.137Z,1628908320.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.619999 m, bearing: 23.735609 deg, deltaT: 4.448398 s, approachRate: 0.337200 m/s, LOS rate: -3.960773 deg/s, posRepo size: 4
2021-08-14T02:32:02.522Z,1628908322.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:02.885Z,1628908322.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:32:02.885Z,1628908322.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:32:02.885Z,1628908322.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:32:02.886Z,1628908322.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:32:03.299Z,1628908323.299 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
354,000,003EA,189,80,80,A7,FF
2021-08-14T02:32:03.300Z,1628908323.300 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:32:03.300Z,1628908323.300 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:32:03.303Z,1628908323.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:32:03.727Z,1628908323.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:32:04.097Z,1628908324.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36C,000,0040F,189,80,80,6B,FF
2021-08-14T02:32:04.097Z,1628908324.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:32:04.185Z,1628908324.185 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:32:04.545Z,1628908324.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023204.41*5C

2021-08-14T02:32:04.560Z,1628908324.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.840002 m, bearing: 21.582711 deg, deltaT: 4.419290 s, approachRate: 0.502344 m/s, LOS rate: -0.487159 deg/s, posRepo size: 4
2021-08-14T02:32:06.984Z,1628908326.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:07.341Z,1628908327.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:32:07.341Z,1628908327.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:32:07.341Z,1628908327.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:32:07.342Z,1628908327.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:32:07.764Z,1628908327.764 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36C,000,0040F,189,80,80,6B,FF
2021-08-14T02:32:07.764Z,1628908327.764 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:32:07.765Z,1628908327.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:32:07.766Z,1628908327.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:32:08.232Z,1628908328.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:32:08.609Z,1628908328.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38F,000,00439,189,80,80,85,FF
2021-08-14T02:32:08.609Z,1628908328.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:32:08.737Z,1628908328.737 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:32:09.035Z,1628908329.035 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023208.88*55

2021-08-14T02:32:09.106Z,1628908329.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.359999 m, bearing: 18.647646 deg, deltaT: 4.551584 s, approachRate: 0.553653 m/s, LOS rate: -0.644845 deg/s, posRepo size: 4
2021-08-14T02:32:11.566Z,1628908331.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:11.833Z,1628908331.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:32:11.833Z,1628908331.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:32:11.833Z,1628908331.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:32:11.834Z,1628908331.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:32:12.241Z,1628908332.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38F,000,00439,189,80,80,85,FF
2021-08-14T02:32:12.241Z,1628908332.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:32:12.241Z,1628908332.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:32:12.243Z,1628908332.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:32:12.661Z,1628908332.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:32:13.049Z,1628908333.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F7,000,00469,189,80,80,76,FF
2021-08-14T02:32:13.050Z,1628908333.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:32:13.127Z,1628908333.127 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:32:13.509Z,1628908333.509 [Micromodem](INFO): Nmea in: $SNTTA,0.038871,,,,023213.36*41

2021-08-14T02:32:13.573Z,1628908333.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.239998 m, bearing: 16.131573 deg, deltaT: 4.389491 s, approachRate: 0.656112 m/s, LOS rate: -0.573204 deg/s, posRepo size: 4
2021-08-14T02:32:15.918Z,1628908335.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:16.277Z,1628908336.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:32:16.277Z,1628908336.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:32:16.277Z,1628908336.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:32:16.278Z,1628908336.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:32:16.684Z,1628908336.684 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F7,000,00469,189,80,80,76,FF
2021-08-14T02:32:16.685Z,1628908336.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:32:16.685Z,1628908336.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:32:16.693Z,1628908336.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:32:17.110Z,1628908337.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:32:17.918Z,1628908337.918 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023217.81*52

2021-08-14T02:32:18.756Z,1628908338.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:20.325Z,1628908340.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C0B,000,084C5,189,80,80,3D,FF
2021-08-14T02:32:20.326Z,1628908340.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:32:20.381Z,1628908340.381 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:32:20.817Z,1628908340.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2001.840088 m, bearing: 118.308849 deg, deltaT: 7.254534 s, approachRate: 271.774872 m/s, LOS rate: 14.084609 deg/s, posRepo size: 4
2021-08-14T02:32:20.818Z,1628908340.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2001.84 m. Resuming terminal guidance.
2021-08-14T02:32:20.818Z,1628908340.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T02:32:21.157Z,1628908341.157 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:32:21.158Z,1628908341.158 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:32:21.158Z,1628908341.158 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:32:21.158Z,1628908341.158 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:32:21.159Z,1628908341.159 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:32:21.159Z,1628908341.159 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:32:21.609Z,1628908341.609 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:32:21.609Z,1628908341.609 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:32:21.609Z,1628908341.609 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:32:21.609Z,1628908341.609 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:32:23.182Z,1628908343.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:23.549Z,1628908343.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:32:23.549Z,1628908343.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:32:23.549Z,1628908343.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:32:23.550Z,1628908343.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:32:23.965Z,1628908343.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C0B,000,084C5,189,80,80,3D,FF
2021-08-14T02:32:23.965Z,1628908343.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:32:23.965Z,1628908343.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:32:23.967Z,1628908343.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:32:24.380Z,1628908344.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:32:24.765Z,1628908344.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA6,000,004F3,189,80,80,47,FF
2021-08-14T02:32:24.765Z,1628908344.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:32:25.210Z,1628908345.210 [Micromodem](INFO): Nmea in: $SNTTA,0.049365,,,,023225.08*41

2021-08-14T02:32:25.229Z,1628908345.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.520000 m, bearing: 110.471527 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T02:32:25.230Z,1628908345.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.52 m.
2021-08-14T02:32:25.231Z,1628908345.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 110.471527deg and heading rate command to 0 deg/s.
2021-08-14T02:32:25.606Z,1628908345.606 [PowerOnly](INFO): Powering up loadControl
2021-08-14T02:32:25.670Z,1628908345.670 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:32:25.670Z,1628908345.670 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:32:25.671Z,1628908345.671 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:32:25.671Z,1628908345.671 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:32:25.671Z,1628908345.671 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:32:25.671Z,1628908345.671 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:32:26.040Z,1628908346.040 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:32:26.040Z,1628908346.040 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:32:26.040Z,1628908346.040 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:32:26.041Z,1628908346.041 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:32:27.643Z,1628908347.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:28.001Z,1628908348.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:32:28.001Z,1628908348.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:32:28.001Z,1628908348.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:32:28.002Z,1628908348.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:32:28.401Z,1628908348.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA6,000,004F3,189,80,80,47,FF
2021-08-14T02:32:28.401Z,1628908348.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:32:28.401Z,1628908348.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:32:28.403Z,1628908348.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:32:28.809Z,1628908348.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:32:29.642Z,1628908349.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023229.52*51

2021-08-14T02:32:30.443Z,1628908350.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:32.045Z,1628908352.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,47,FF
2021-08-14T02:32:32.045Z,1628908352.045 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,47,FF
2021-08-14T02:32:32.045Z,1628908352.045 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:32:33.283Z,1628908353.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:33.657Z,1628908353.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:32:33.657Z,1628908353.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:32:33.657Z,1628908353.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:32:33.658Z,1628908353.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:32:34.061Z,1628908354.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,47,FF
2021-08-14T02:32:34.061Z,1628908354.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:32:34.062Z,1628908354.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:32:34.063Z,1628908354.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:32:34.472Z,1628908354.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:32:35.292Z,1628908355.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023235.17*5D

2021-08-14T02:32:36.103Z,1628908356.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:37.713Z,1628908357.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,47,FF
2021-08-14T02:32:37.713Z,1628908357.713 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,47,FF
2021-08-14T02:32:37.714Z,1628908357.714 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:32:38.969Z,1628908358.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:39.325Z,1628908359.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:32:39.326Z,1628908359.326 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:32:39.326Z,1628908359.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:32:39.327Z,1628908359.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:32:39.737Z,1628908359.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,47,FF
2021-08-14T02:32:39.737Z,1628908359.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:32:39.738Z,1628908359.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:32:39.739Z,1628908359.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:32:40.261Z,1628908360.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:32:40.641Z,1628908360.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,262,000,005B2,189,80,80,82,FF
2021-08-14T02:32:40.641Z,1628908360.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:32:40.666Z,1628908360.666 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:32:41.062Z,1628908361.062 [Micromodem](INFO): Nmea in: $SNTTA,0.050723,,,,023240.85*49

2021-08-14T02:32:41.087Z,1628908361.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.980003 m, bearing: 74.931294 deg, deltaT: 15.841977 s, approachRate: 0.723395 m/s, LOS rate: -2.243422 deg/s, posRepo size: 2
2021-08-14T02:32:41.089Z,1628908361.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.980003 m,
      bearing: 74.931294 deg,
      approachRate: 0.723395 m/s,
      LOS rate: -2.243422 deg/s,
      cmd update: -6.730264 deg/s,
      cmd heading: 110.471527 deg,
      new cmd heading: 110.471527 deg.

2021-08-14T02:32:41.556Z,1628908361.556 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:32:41.557Z,1628908361.557 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:32:41.557Z,1628908361.557 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:32:41.557Z,1628908361.557 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:32:41.558Z,1628908361.558 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:32:41.558Z,1628908361.558 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:32:41.886Z,1628908361.886 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:32:41.886Z,1628908361.886 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:32:41.886Z,1628908361.886 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:32:41.887Z,1628908361.887 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:32:43.526Z,1628908363.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:43.874Z,1628908363.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:32:43.874Z,1628908363.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:32:43.874Z,1628908363.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:32:43.875Z,1628908363.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:32:44.295Z,1628908364.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
262,000,005B2,189,80,80,82,FF
2021-08-14T02:32:44.295Z,1628908364.295 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:32:44.295Z,1628908364.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:32:44.297Z,1628908364.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:32:44.719Z,1628908364.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:32:45.507Z,1628908365.507 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023245.41*59

2021-08-14T02:32:46.342Z,1628908366.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:47.921Z,1628908367.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,82,FF
2021-08-14T02:32:47.921Z,1628908367.921 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,82,FF
2021-08-14T02:32:47.921Z,1628908367.921 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:32:49.200Z,1628908369.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:49.521Z,1628908369.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:32:49.522Z,1628908369.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:32:49.522Z,1628908369.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:32:49.523Z,1628908369.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:32:49.941Z,1628908369.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,82,FF
2021-08-14T02:32:49.941Z,1628908369.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:32:49.941Z,1628908369.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:32:49.943Z,1628908369.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:32:50.348Z,1628908370.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:32:51.166Z,1628908371.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023251.06*5F

2021-08-14T02:32:51.985Z,1628908371.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:53.565Z,1628908373.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,82,FF
2021-08-14T02:32:53.566Z,1628908373.566 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,82,FF
2021-08-14T02:32:53.566Z,1628908373.566 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:32:54.847Z,1628908374.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:55.178Z,1628908375.178 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:32:55.178Z,1628908375.178 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:32:55.178Z,1628908375.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:32:55.179Z,1628908375.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:32:55.594Z,1628908375.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,82,FF
2021-08-14T02:32:55.594Z,1628908375.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:32:55.594Z,1628908375.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:32:55.648Z,1628908375.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:32:56.116Z,1628908376.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:32:56.515Z,1628908376.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,275,000,0065F,189,80,80,67,FF
2021-08-14T02:32:56.515Z,1628908376.515 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:32:56.925Z,1628908376.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023256.76*5F

2021-08-14T02:32:56.999Z,1628908376.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.360008 m, bearing: 47.002650 deg, deltaT: 15.868354 s, approachRate: 0.654132 m/s, LOS rate: -1.760022 deg/s, posRepo size: 3
2021-08-14T02:32:57.001Z,1628908377.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.360008 m,
      bearing: 47.002650 deg,
      approachRate: 0.654132 m/s,
      LOS rate: -1.760022 deg/s,
      cmd update: -5.280065 deg/s,
      cmd heading: 3.641624 deg,
      new cmd heading: 0.493307 deg.

2021-08-14T02:32:59.442Z,1628908379.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:32:59.757Z,1628908379.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:32:59.757Z,1628908379.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:32:59.757Z,1628908379.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:32:59.758Z,1628908379.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:33:00.145Z,1628908380.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
275,000,0065F,189,80,80,67,FF
2021-08-14T02:33:00.145Z,1628908380.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:33:00.145Z,1628908380.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:33:00.147Z,1628908380.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:33:00.561Z,1628908380.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:33:00.949Z,1628908380.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCA,000,00694,189,80,80,71,FF
2021-08-14T02:33:00.950Z,1628908380.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:33:01.416Z,1628908381.416 [Micromodem](INFO): Nmea in: $SNTTA,0.049459,,,,023301.26*42

2021-08-14T02:33:01.484Z,1628908381.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.540001 m, bearing: 99.782678 deg, deltaT: 4.446331 s, approachRate: 0.715195 m/s, LOS rate: 11.870468 deg/s, posRepo size: 4
2021-08-14T02:33:01.485Z,1628908381.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.870468 deg/s. Setting heading cmd to target bearing of 99.782678deg and heading rate command to 0 deg/s.
2021-08-14T02:33:03.836Z,1628908383.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:33:04.192Z,1628908384.192 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:33:04.192Z,1628908384.192 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:33:04.194Z,1628908384.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:33:04.197Z,1628908384.197 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:33:04.593Z,1628908384.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCA,000,00694,189,80,80,71,FF
2021-08-14T02:33:04.593Z,1628908384.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:33:04.593Z,1628908384.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:33:04.595Z,1628908384.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:33:04.997Z,1628908384.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:33:05.436Z,1628908385.436 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,373,000,006BA,189,80,80,96,FF
2021-08-14T02:33:05.436Z,1628908385.436 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:33:05.833Z,1628908385.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023305.71*5F

2021-08-14T02:33:05.859Z,1628908385.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.820000 m, bearing: 359.231723 deg, deltaT: 4.497923 s, approachRate: 0.506900 m/s, LOS rate: -22.354974 deg/s, posRepo size: 4
2021-08-14T02:33:05.884Z,1628908385.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.354974 deg/s. Setting heading cmd to target bearing of 359.231723deg and heading rate command to 0 deg/s.
2021-08-14T02:33:08.239Z,1628908388.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:33:08.621Z,1628908388.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:33:08.621Z,1628908388.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:33:08.621Z,1628908388.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:33:08.622Z,1628908388.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:33:09.025Z,1628908389.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
373,000,006BA,189,80,80,96,FF
2021-08-14T02:33:09.025Z,1628908389.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:33:09.026Z,1628908389.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:33:09.027Z,1628908389.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:33:09.489Z,1628908389.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:33:09.892Z,1628908389.892 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,006DE,185,80,80,75,FF
2021-08-14T02:33:09.893Z,1628908389.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:33:10.302Z,1628908390.302 [Micromodem](INFO): Nmea in: $SNTTA,0.066035,,,,023310.14*40

2021-08-14T02:33:10.339Z,1628908390.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.980003 m, bearing: 4.677449 deg, deltaT: 4.444216 s, approachRate: 0.486026 m/s, LOS rate: 1.225352 deg/s, posRepo size: 4
2021-08-14T02:33:10.342Z,1628908390.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.980003 m,
      bearing: 4.677449 deg,
      approachRate: 0.486026 m/s,
      LOS rate: 1.225352 deg/s,
      cmd update: 3.676055 deg/s,
      cmd heading: 359.231723 deg,
      new cmd heading: 359.231723 deg.

2021-08-14T02:33:12.776Z,1628908392.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:33:13.113Z,1628908393.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:33:13.113Z,1628908393.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:33:13.113Z,1628908393.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:33:13.114Z,1628908393.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:33:13.517Z,1628908393.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,006DE,185,80,80,75,FF
2021-08-14T02:33:13.517Z,1628908393.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:33:13.517Z,1628908393.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:33:13.519Z,1628908393.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:33:13.931Z,1628908393.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:33:14.345Z,1628908394.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A2,000,006F8,186,80,80,58,FF
2021-08-14T02:33:14.345Z,1628908394.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:33:14.781Z,1628908394.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023314.63*5C

2021-08-14T02:33:14.841Z,1628908394.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.540001 m, bearing: 349.765381 deg, deltaT: 4.442811 s, approachRate: 0.351128 m/s, LOS rate: -3.356449 deg/s, posRepo size: 4
2021-08-14T02:33:14.849Z,1628908394.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.540001 m,
      bearing: 349.765381 deg,
      approachRate: 0.351128 m/s,
      LOS rate: -3.356449 deg/s,
      cmd update: -10.069347 deg/s,
      cmd heading: 15.564026 deg,
      new cmd heading: 17.304697 deg.

2021-08-14T02:33:17.190Z,1628908397.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:33:17.557Z,1628908397.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:33:17.558Z,1628908397.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:33:17.558Z,1628908397.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:33:17.559Z,1628908397.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:33:17.965Z,1628908397.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A2,000,006F8,186,80,80,58,FF
2021-08-14T02:33:17.966Z,1628908397.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:33:17.966Z,1628908397.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:33:17.967Z,1628908397.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:33:18.392Z,1628908398.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:33:18.769Z,1628908398.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,00709,186,80,80,84,FF
2021-08-14T02:33:18.769Z,1628908398.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:33:19.221Z,1628908399.221 [Micromodem](INFO): Nmea in: $SNTTA,0.061415,,,,023319.08*45

2021-08-14T02:33:19.237Z,1628908399.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.559998 m, bearing: 2.508965 deg, deltaT: 4.433786 s, approachRate: 0.230051 m/s, LOS rate: 2.874201 deg/s, posRepo size: 4
2021-08-14T02:33:19.239Z,1628908399.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.559998 m,
      bearing: 2.508965 deg,
      approachRate: 0.230051 m/s,
      LOS rate: 2.874201 deg/s,
      cmd update: 8.622603 deg/s,
      cmd heading: 330.919087 deg,
      new cmd heading: 326.481888 deg.

2021-08-14T02:33:21.656Z,1628908401.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:33:22.001Z,1628908402.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:33:22.001Z,1628908402.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:33:22.001Z,1628908402.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:33:22.002Z,1628908402.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:33:22.405Z,1628908402.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,00709,186,80,80,84,FF
2021-08-14T02:33:22.405Z,1628908402.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:33:22.405Z,1628908402.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:33:22.407Z,1628908402.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:33:22.817Z,1628908402.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:33:23.213Z,1628908403.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,142,000,00722,186,80,80,50,FF
2021-08-14T02:33:23.213Z,1628908403.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:33:23.663Z,1628908403.663 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023323.52*5A

2021-08-14T02:33:23.791Z,1628908403.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.060005 m, bearing: 349.744809 deg, deltaT: 4.458193 s, approachRate: 0.336461 m/s, LOS rate: -2.863081 deg/s, posRepo size: 4
2021-08-14T02:33:23.806Z,1628908403.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.060005 m,
      bearing: 349.744809 deg,
      approachRate: 0.336461 m/s,
      LOS rate: -2.863081 deg/s,
      cmd update: -8.589242 deg/s,
      cmd heading: 9.360852 deg,
      new cmd heading: 13.983558 deg.

2021-08-14T02:33:26.087Z,1628908406.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:33:26.445Z,1628908406.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:33:26.445Z,1628908406.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:33:26.445Z,1628908406.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:33:26.446Z,1628908406.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:33:26.849Z,1628908406.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
142,000,00722,186,80,80,50,FF
2021-08-14T02:33:26.849Z,1628908406.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:33:26.849Z,1628908406.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:33:26.851Z,1628908406.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:33:27.257Z,1628908407.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:33:28.086Z,1628908408.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023327.97*57

2021-08-14T02:33:28.914Z,1628908408.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:33:30.485Z,1628908410.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,50,FF
2021-08-14T02:33:30.485Z,1628908410.485 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,50,FF
2021-08-14T02:33:30.485Z,1628908410.485 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:33:31.774Z,1628908411.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:33:32.105Z,1628908412.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:33:32.105Z,1628908412.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:33:32.105Z,1628908412.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:33:32.106Z,1628908412.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:33:32.517Z,1628908412.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,50,FF
2021-08-14T02:33:32.517Z,1628908412.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:33:32.517Z,1628908412.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:33:32.519Z,1628908412.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:33:32.917Z,1628908412.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:33:33.314Z,1628908413.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00739,189,80,80,88,FF
2021-08-14T02:33:33.314Z,1628908413.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:33:33.753Z,1628908413.753 [Micromodem](INFO): Nmea in: $SNTTA,0.338337,0.338456,,,023333.63*59

2021-08-14T02:33:33.833Z,1628908413.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.440002 m, bearing: 278.375097 deg, deltaT: 10.106285 s, approachRate: 0.136548 m/s, LOS rate: -7.061914 deg/s, posRepo size: 4
2021-08-14T02:33:33.835Z,1628908413.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.440002 m,
      bearing: 278.375097 deg,
      approachRate: 0.136548 m/s,
      LOS rate: -7.061914 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 282.798522 deg,
      new cmd heading: 278.539959 deg.

2021-08-14T02:33:36.174Z,1628908416.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:33:36.545Z,1628908416.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:33:36.545Z,1628908416.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:33:36.545Z,1628908416.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:33:36.546Z,1628908416.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:33:36.957Z,1628908416.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00739,189,80,80,88,FF
2021-08-14T02:33:36.957Z,1628908416.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:33:36.958Z,1628908416.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:33:36.959Z,1628908416.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:33:37.357Z,1628908417.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:33:37.765Z,1628908417.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0073A,188,80,80,97,FF
2021-08-14T02:33:37.765Z,1628908417.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:33:37.769Z,1628908417.769 [Micromodem](INFO): Nmea in: $SNTTA,0.157878,0.157684,,,023338.07*5D

2021-08-14T02:33:38.195Z,1628908418.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.500000 m, bearing: 259.381789 deg, deltaT: 4.510862 s, approachRate: 0.013301 m/s, LOS rate: -4.210572 deg/s, posRepo size: 4
2021-08-14T02:33:38.197Z,1628908418.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.500000 m,
      bearing: 259.381789 deg,
      approachRate: 0.013301 m/s,
      LOS rate: -4.210572 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 228.377153 deg,
      new cmd heading: 224.444885 deg.

2021-08-14T02:33:40.607Z,1628908420.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:33:40.995Z,1628908420.995 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:33:40.995Z,1628908420.995 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:33:40.995Z,1628908420.995 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:33:40.996Z,1628908420.996 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:33:41.426Z,1628908421.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0073A,188,80,80,97,FF
2021-08-14T02:33:41.426Z,1628908421.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:33:41.427Z,1628908421.427 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:33:41.430Z,1628908421.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:33:41.805Z,1628908421.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:33:42.205Z,1628908422.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0072D,18A,80,80,55,FF
2021-08-14T02:33:42.206Z,1628908422.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:33:42.213Z,1628908422.213 [Micromodem](INFO): Nmea in: $SNTTA,0.057661,0.226839,,,023342.54*5C

2021-08-14T02:33:42.643Z,1628908422.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.720009 m, bearing: 241.350581 deg, deltaT: 4.391993 s, approachRate: -0.177594 m/s, LOS rate: -4.105473 deg/s, posRepo size: 4
2021-08-14T02:33:42.645Z,1628908422.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.720009 m,
      bearing: 241.350581 deg,
      approachRate: -0.177594 m/s,
      LOS rate: -4.105473 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 175.673367 deg,
      new cmd heading: 171.068811 deg.

2021-08-14T02:33:45.069Z,1628908425.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:33:45.477Z,1628908425.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:33:45.477Z,1628908425.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:33:45.477Z,1628908425.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:33:45.478Z,1628908425.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:33:45.841Z,1628908425.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0072D,18A,80,80,55,FF
2021-08-14T02:33:45.841Z,1628908425.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:33:45.841Z,1628908425.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:33:45.843Z,1628908425.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:33:46.256Z,1628908426.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:33:46.657Z,1628908426.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BE,000,00719,188,80,80,97,FF
2021-08-14T02:33:46.657Z,1628908426.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:33:47.125Z,1628908427.125 [Micromodem](INFO): Nmea in: $SNTTA,0.053643,,,,023346.96*48

2021-08-14T02:33:47.158Z,1628908427.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.519997 m, bearing: 241.878199 deg, deltaT: 4.481223 s, approachRate: -0.267787 m/s, LOS rate: 0.117740 deg/s, posRepo size: 4
2021-08-14T02:33:47.161Z,1628908427.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.519997 m,
      bearing: 241.878199 deg,
      approachRate: -0.267787 m/s,
      LOS rate: 0.117740 deg/s,
      cmd update: 0.353219 deg/s,
      cmd heading: 121.853307 deg,
      new cmd heading: 116.886015 deg.

2021-08-14T02:33:49.569Z,1628908429.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:33:49.877Z,1628908429.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:33:49.877Z,1628908429.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:33:49.877Z,1628908429.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:33:49.878Z,1628908429.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:33:50.282Z,1628908430.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BE,000,00719,188,80,80,97,FF
2021-08-14T02:33:50.282Z,1628908430.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:33:50.282Z,1628908430.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:33:50.285Z,1628908430.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:33:50.720Z,1628908430.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:33:51.089Z,1628908431.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,006FD,189,80,80,77,FF
2021-08-14T02:33:51.090Z,1628908431.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:33:51.537Z,1628908431.537 [Micromodem](INFO): Nmea in: $SNTTA,0.059725,,,,023351.40*4E

2021-08-14T02:33:51.592Z,1628908431.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.840004 m, bearing: 235.865283 deg, deltaT: 4.389421 s, approachRate: -0.382737 m/s, LOS rate: -1.369865 deg/s, posRepo size: 4
2021-08-14T02:33:51.594Z,1628908431.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.840004 m,
      bearing: 235.865283 deg,
      approachRate: -0.382737 m/s,
      LOS rate: -1.369865 deg/s,
      cmd update: -4.109596 deg/s,
      cmd heading: 123.402403 deg,
      new cmd heading: 123.558515 deg.

2021-08-14T02:33:53.954Z,1628908433.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:33:54.329Z,1628908434.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:33:54.329Z,1628908434.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:33:54.329Z,1628908434.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:33:54.330Z,1628908434.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:33:54.753Z,1628908434.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,006FD,189,80,80,77,FF
2021-08-14T02:33:54.753Z,1628908434.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:33:54.753Z,1628908434.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:33:54.755Z,1628908434.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:33:55.140Z,1628908435.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:33:55.537Z,1628908435.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BB,000,006D9,186,80,80,8F,FF
2021-08-14T02:33:55.538Z,1628908435.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:33:55.955Z,1628908435.955 [Micromodem](INFO): Nmea in: $SNTTA,0.069149,,,,023355.87*4E

2021-08-14T02:33:55.994Z,1628908435.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.680000 m, bearing: 232.478930 deg, deltaT: 4.512960 s, approachRate: -0.478622 m/s, LOS rate: -0.750362 deg/s, posRepo size: 4
2021-08-14T02:33:55.996Z,1628908435.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.680000 m,
      bearing: 232.478930 deg,
      approachRate: -0.478622 m/s,
      LOS rate: -0.750362 deg/s,
      cmd update: -2.251086 deg/s,
      cmd heading: 104.918260 deg,
      new cmd heading: 103.414913 deg.

2021-08-14T02:33:58.398Z,1628908438.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:33:58.773Z,1628908438.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:33:58.773Z,1628908438.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:33:58.773Z,1628908438.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:33:58.774Z,1628908438.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:33:59.169Z,1628908439.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BB,000,006D9,186,80,80,8F,FF
2021-08-14T02:33:59.169Z,1628908439.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:33:59.169Z,1628908439.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:33:59.171Z,1628908439.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:33:59.589Z,1628908439.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:34:00.005Z,1628908440.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,006B0,185,80,80,88,FF
2021-08-14T02:34:00.006Z,1628908440.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:34:00.413Z,1628908440.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023400.29*50

2021-08-14T02:34:00.459Z,1628908440.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.220001 m, bearing: 234.997877 deg, deltaT: 4.434275 s, approachRate: -0.554769 m/s, LOS rate: 0.568063 deg/s, posRepo size: 4
2021-08-14T02:34:00.470Z,1628908440.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.220001 m,
      bearing: 234.997877 deg,
      approachRate: -0.554769 m/s,
      LOS rate: 0.568063 deg/s,
      cmd update: 1.704188 deg/s,
      cmd heading: 94.912036 deg,
      new cmd heading: 94.043637 deg.

2021-08-14T02:34:02.857Z,1628908442.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:34:03.209Z,1628908443.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:34:03.209Z,1628908443.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:34:03.209Z,1628908443.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:34:03.210Z,1628908443.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:34:03.626Z,1628908443.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,006B0,185,80,80,88,FF
2021-08-14T02:34:03.626Z,1628908443.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:34:03.626Z,1628908443.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:34:03.628Z,1628908443.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:34:04.037Z,1628908444.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:34:04.433Z,1628908444.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,00685,186,80,80,A9,FF
2021-08-14T02:34:04.433Z,1628908444.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:34:04.862Z,1628908444.862 [Micromodem](INFO): Nmea in: $SNTTA,0.053675,,,,023404.74*40

2021-08-14T02:34:04.889Z,1628908444.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.640007 m, bearing: 233.021548 deg, deltaT: 4.393368 s, approachRate: -0.587247 m/s, LOS rate: -0.449844 deg/s, posRepo size: 4
2021-08-14T02:34:04.890Z,1628908444.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.640007 m,
      bearing: 233.021548 deg,
      approachRate: -0.587247 m/s,
      LOS rate: -0.449844 deg/s,
      cmd update: -1.349531 deg/s,
      cmd heading: 102.413400 deg,
      new cmd heading: 103.118108 deg.

2021-08-14T02:34:07.271Z,1628908447.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:34:07.673Z,1628908447.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:34:07.673Z,1628908447.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:34:07.673Z,1628908447.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:34:07.674Z,1628908447.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:34:08.065Z,1628908448.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,00685,186,80,80,A9,FF
2021-08-14T02:34:08.065Z,1628908448.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:34:08.065Z,1628908448.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:34:08.067Z,1628908448.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:34:08.485Z,1628908448.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:34:08.869Z,1628908448.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,0065C,189,80,80,8C,FF
2021-08-14T02:34:08.869Z,1628908448.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:34:09.341Z,1628908449.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023409.18*5B

2021-08-14T02:34:09.407Z,1628908449.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.179996 m, bearing: 174.614797 deg, deltaT: 4.421488 s, approachRate: -0.556376 m/s, LOS rate: -13.209750 deg/s, posRepo size: 4
2021-08-14T02:34:09.414Z,1628908449.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.209750 deg/s. Setting heading cmd to target bearing of 174.614797deg and heading rate command to 0 deg/s.
2021-08-14T02:34:11.772Z,1628908451.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:34:12.105Z,1628908452.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:34:12.105Z,1628908452.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:34:12.105Z,1628908452.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:34:12.106Z,1628908452.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:34:12.502Z,1628908452.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,0065C,189,80,80,8C,FF
2021-08-14T02:34:12.502Z,1628908452.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:34:12.502Z,1628908452.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:34:12.504Z,1628908452.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:34:12.909Z,1628908452.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:34:13.314Z,1628908453.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD9,000,0063C,189,80,80,7A,FF
2021-08-14T02:34:13.315Z,1628908453.315 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:34:13.761Z,1628908453.761 [Micromodem](INFO): Nmea in: $SNTTA,0.383040,,,,023413.62*4F

2021-08-14T02:34:13.827Z,1628908453.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 238.206973 deg, deltaT: 4.504917 s, approachRate: -0.426199 m/s, LOS rate: 14.116171 deg/s, posRepo size: 4
2021-08-14T02:34:13.828Z,1628908453.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.116171 deg/s. Setting heading cmd to target bearing of 238.206973deg and heading rate command to 0 deg/s.
2021-08-14T02:34:16.178Z,1628908456.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:34:16.546Z,1628908456.546 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:34:16.546Z,1628908456.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:34:16.546Z,1628908456.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:34:16.547Z,1628908456.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:34:16.949Z,1628908456.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD9,000,0063C,189,80,80,7A,FF
2021-08-14T02:34:16.949Z,1628908456.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:34:16.949Z,1628908456.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:34:16.951Z,1628908456.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:34:17.396Z,1628908457.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:34:17.765Z,1628908457.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B00,000,00626,189,80,80,AA,FF
2021-08-14T02:34:17.766Z,1628908457.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:34:17.769Z,1628908457.769 [Micromodem](INFO): Nmea in: $SNTTA,0.061700,0.160550,,,023418.07*52

2021-08-14T02:34:18.218Z,1628908458.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.939999 m, bearing: 233.086025 deg, deltaT: 4.437928 s, approachRate: -0.297438 m/s, LOS rate: -1.153905 deg/s, posRepo size: 4
2021-08-14T02:34:18.221Z,1628908458.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.939999 m,
      bearing: 233.086025 deg,
      approachRate: -0.297438 m/s,
      LOS rate: -1.153905 deg/s,
      cmd update: -3.461716 deg/s,
      cmd heading: 238.206973 deg,
      new cmd heading: 238.206973 deg.

2021-08-14T02:34:20.643Z,1628908460.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:34:20.985Z,1628908460.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:34:20.985Z,1628908460.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:34:20.985Z,1628908460.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:34:20.986Z,1628908460.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:34:21.403Z,1628908461.403 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B00,000,00626,189,80,80,AA,FF
2021-08-14T02:34:21.404Z,1628908461.404 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:34:21.405Z,1628908461.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:34:21.411Z,1628908461.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:34:21.797Z,1628908461.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:34:22.197Z,1628908462.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00618,189,80,80,54,FF
2021-08-14T02:34:22.198Z,1628908462.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:34:22.629Z,1628908462.629 [Micromodem](INFO): Nmea in: $SNTTA,0.055169,,,,023422.54*4A

2021-08-14T02:34:22.652Z,1628908462.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.099998 m, bearing: 236.607752 deg, deltaT: 4.407110 s, approachRate: -0.190601 m/s, LOS rate: 0.799101 deg/s, posRepo size: 4
2021-08-14T02:34:22.655Z,1628908462.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.099998 m,
      bearing: 236.607752 deg,
      approachRate: -0.190601 m/s,
      LOS rate: 0.799101 deg/s,
      cmd update: 2.397304 deg/s,
      cmd heading: 223.046310 deg,
      new cmd heading: 221.546414 deg.

2021-08-14T02:34:25.077Z,1628908465.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:34:25.465Z,1628908465.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:34:25.465Z,1628908465.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:34:25.465Z,1628908465.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:34:25.466Z,1628908465.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:34:25.837Z,1628908465.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00618,189,80,80,54,FF
2021-08-14T02:34:25.837Z,1628908465.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:34:25.837Z,1628908465.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:34:25.839Z,1628908465.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:34:26.245Z,1628908466.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:34:26.649Z,1628908466.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C44,000,00604,189,80,80,93,FF
2021-08-14T02:34:26.649Z,1628908466.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:34:27.081Z,1628908467.081 [Micromodem](INFO): Nmea in: $SNTTA,0.057042,,,,023426.95*49

2021-08-14T02:34:27.147Z,1628908467.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.900002 m, bearing: 238.454936 deg, deltaT: 4.423712 s, approachRate: -0.271265 m/s, LOS rate: 0.417564 deg/s, posRepo size: 4
2021-08-14T02:34:27.155Z,1628908467.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.900002 m,
      bearing: 238.454936 deg,
      approachRate: -0.271265 m/s,
      LOS rate: 0.417564 deg/s,
      cmd update: 1.252693 deg/s,
      cmd heading: 233.717024 deg,
      new cmd heading: 234.869290 deg.

2021-08-14T02:34:29.526Z,1628908469.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:34:29.882Z,1628908469.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:34:29.882Z,1628908469.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:34:29.882Z,1628908469.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:34:29.883Z,1628908469.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:34:30.286Z,1628908470.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C44,000,00604,189,80,80,93,FF
2021-08-14T02:34:30.286Z,1628908470.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:34:30.286Z,1628908470.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:34:30.289Z,1628908470.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:34:30.721Z,1628908470.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:34:31.085Z,1628908471.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,005E5,189,80,80,59,FF
2021-08-14T02:34:31.086Z,1628908471.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:34:31.525Z,1628908471.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023431.41*5C

2021-08-14T02:34:31.574Z,1628908471.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.040001 m, bearing: 238.631537 deg, deltaT: 4.432140 s, approachRate: -0.419662 m/s, LOS rate: 0.039846 deg/s, posRepo size: 4
2021-08-14T02:34:31.576Z,1628908471.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.040001 m,
      bearing: 238.631537 deg,
      approachRate: -0.419662 m/s,
      LOS rate: 0.039846 deg/s,
      cmd update: 0.119537 deg/s,
      cmd heading: 239.274432 deg,
      new cmd heading: 239.865338 deg.

2021-08-14T02:34:33.952Z,1628908473.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:34:34.321Z,1628908474.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:34:34.321Z,1628908474.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:34:34.321Z,1628908474.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:34:34.322Z,1628908474.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:34:34.753Z,1628908474.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,005E5,189,80,80,59,FF
2021-08-14T02:34:34.753Z,1628908474.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:34:34.753Z,1628908474.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:34:34.755Z,1628908474.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:34:35.143Z,1628908475.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:34:35.529Z,1628908475.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,005BD,186,80,80,7B,FF
2021-08-14T02:34:35.530Z,1628908475.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:34:35.957Z,1628908475.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023435.87*52

2021-08-14T02:34:35.000Z,1628908476.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.639996 m, bearing: 246.566851 deg, deltaT: 4.491521 s, approachRate: -0.534341 m/s, LOS rate: 1.766732 deg/s, posRepo size: 4
2021-08-14T02:34:36.002Z,1628908476.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.639996 m,
      bearing: 246.566851 deg,
      approachRate: -0.534341 m/s,
      LOS rate: 1.766732 deg/s,
      cmd update: 5.300196 deg/s,
      cmd heading: 239.811332 deg,
      new cmd heading: 239.859852 deg.

2021-08-14T02:34:38.411Z,1628908478.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:34:38.769Z,1628908478.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:34:38.770Z,1628908478.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:34:38.770Z,1628908478.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:34:38.771Z,1628908478.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:34:39.165Z,1628908479.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,005BD,186,80,80,7B,FF
2021-08-14T02:34:39.165Z,1628908479.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:34:39.165Z,1628908479.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:34:39.167Z,1628908479.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:34:39.581Z,1628908479.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:34:39.985Z,1628908479.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,0058F,185,80,80,7D,FF
2021-08-14T02:34:39.986Z,1628908479.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:34:40.405Z,1628908480.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023440.28*55

2021-08-14T02:34:40.427Z,1628908480.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.880001 m, bearing: 244.009519 deg, deltaT: 4.452178 s, approachRate: -0.619920 m/s, LOS rate: -0.574400 deg/s, posRepo size: 4
2021-08-14T02:34:40.449Z,1628908480.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.880001 m,
      bearing: 244.009519 deg,
      approachRate: -0.619920 m/s,
      LOS rate: -0.574400 deg/s,
      cmd update: -1.723201 deg/s,
      cmd heading: 263.387845 deg,
      new cmd heading: 265.429973 deg.

2021-08-14T02:34:42.861Z,1628908482.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:34:43.217Z,1628908483.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:34:43.217Z,1628908483.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:34:43.218Z,1628908483.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:34:43.219Z,1628908483.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:34:43.617Z,1628908483.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,0058F,185,80,80,7D,FF
2021-08-14T02:34:43.617Z,1628908483.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:34:43.617Z,1628908483.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:34:43.619Z,1628908483.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:34:44.025Z,1628908484.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:34:44.421Z,1628908484.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,208,000,00568,187,80,80,A6,FF
2021-08-14T02:34:44.421Z,1628908484.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:34:44.865Z,1628908484.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023444.74*58

2021-08-14T02:34:44.923Z,1628908484.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.540001 m, bearing: 242.117393 deg, deltaT: 4.424940 s, approachRate: -0.528821 m/s, LOS rate: -0.427605 deg/s, posRepo size: 4
2021-08-14T02:34:44.929Z,1628908484.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.540001 m,
      bearing: 242.117393 deg,
      approachRate: -0.528821 m/s,
      LOS rate: -0.427605 deg/s,
      cmd update: -1.282815 deg/s,
      cmd heading: 255.763187 deg,
      new cmd heading: 254.976637 deg.

2021-08-14T02:34:47.293Z,1628908487.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:34:47.649Z,1628908487.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:34:47.649Z,1628908487.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:34:47.649Z,1628908487.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:34:47.650Z,1628908487.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:34:48.059Z,1628908488.059 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
208,000,00568,187,80,80,A6,FF
2021-08-14T02:34:48.059Z,1628908488.059 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:34:48.059Z,1628908488.059 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:34:48.061Z,1628908488.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:34:48.461Z,1628908488.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:34:48.865Z,1628908488.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,293,000,00543,189,80,80,A8,FF
2021-08-14T02:34:48.866Z,1628908488.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:34:49.333Z,1628908489.333 [Micromodem](INFO): Nmea in: $SNTTA,0.070846,,,,023449.18*4C

2021-08-14T02:34:49.421Z,1628908489.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.319996 m, bearing: 236.107236 deg, deltaT: 4.450973 s, approachRate: -0.498768 m/s, LOS rate: -1.350302 deg/s, posRepo size: 4
2021-08-14T02:34:49.429Z,1628908489.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.319996 m,
      bearing: 236.107236 deg,
      approachRate: -0.498768 m/s,
      LOS rate: -1.350302 deg/s,
      cmd update: -4.050905 deg/s,
      cmd heading: 250.054370 deg,
      new cmd heading: 249.428742 deg.

2021-08-14T02:34:51.802Z,1628908491.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:34:52.097Z,1628908492.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:34:52.097Z,1628908492.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:34:52.097Z,1628908492.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:34:52.098Z,1628908492.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:34:52.497Z,1628908492.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
293,000,00543,189,80,80,A8,FF
2021-08-14T02:34:52.497Z,1628908492.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:34:52.497Z,1628908492.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:34:52.499Z,1628908492.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:34:52.905Z,1628908492.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:34:53.318Z,1628908493.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E3,000,0051A,186,80,80,79,FF
2021-08-14T02:34:53.318Z,1628908493.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:34:53.781Z,1628908493.781 [Micromodem](INFO): Nmea in: $SNTTA,0.411252,,,,023453.62*46

2021-08-14T02:34:53.844Z,1628908493.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.859997 m, bearing: 245.831895 deg, deltaT: 4.483739 s, approachRate: -0.548649 m/s, LOS rate: 2.168873 deg/s, posRepo size: 4
2021-08-14T02:34:53.846Z,1628908493.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.859997 m,
      bearing: 245.831895 deg,
      approachRate: -0.548649 m/s,
      LOS rate: 2.168873 deg/s,
      cmd update: 6.506618 deg/s,
      cmd heading: 232.011068 deg,
      new cmd heading: 230.094905 deg.

2021-08-14T02:34:56.160Z,1628908496.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:34:56.537Z,1628908496.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:34:56.537Z,1628908496.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:34:56.537Z,1628908496.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:34:56.538Z,1628908496.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:34:56.941Z,1628908496.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E3,000,0051A,186,80,80,79,FF
2021-08-14T02:34:56.941Z,1628908496.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:34:56.941Z,1628908496.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:34:56.943Z,1628908496.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:34:57.363Z,1628908497.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:34:57.765Z,1628908497.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,004ED,184,80,80,82,FF
2021-08-14T02:34:57.766Z,1628908497.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:34:58.198Z,1628908498.198 [Micromodem](INFO): Nmea in: $SNTTA,0.165773,,,,023458.06*4F

2021-08-14T02:34:58.214Z,1628908498.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.159996 m, bearing: 242.242249 deg, deltaT: 4.440348 s, approachRate: -0.608061 m/s, LOS rate: -0.808416 deg/s, posRepo size: 4
2021-08-14T02:34:58.215Z,1628908498.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.16 m.
2021-08-14T02:34:58.217Z,1628908498.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.159996 m,
      bearing: 242.242249 deg,
      approachRate: -0.608061 m/s,
      LOS rate: -0.808416 deg/s,
      cmd update: -2.425247 deg/s,
      cmd heading: 261.127047 deg,
      new cmd heading: 263.523701 deg.

2021-08-14T02:34:58.649Z,1628908498.649 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:34:58.649Z,1628908498.649 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:34:58.650Z,1628908498.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:34:58.650Z,1628908498.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:34:58.650Z,1628908498.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:34:58.650Z,1628908498.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:34:59.039Z,1628908499.039 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:34:59.039Z,1628908499.039 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:34:59.039Z,1628908499.039 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:34:59.039Z,1628908499.039 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:35:00.611Z,1628908500.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:35:00.997Z,1628908500.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:35:00.997Z,1628908500.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:35:00.997Z,1628908500.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:35:00.998Z,1628908500.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:35:01.517Z,1628908501.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,004ED,184,80,80,82,FF
2021-08-14T02:35:01.517Z,1628908501.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:35:01.518Z,1628908501.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:35:01.519Z,1628908501.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:35:01.970Z,1628908501.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:35:02.381Z,1628908502.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,004BE,186,80,80,5C,FF
2021-08-14T02:35:02.381Z,1628908502.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:35:02.429Z,1628908502.429 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:35:02.797Z,1628908502.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023502.63*5D

2021-08-14T02:35:02.860Z,1628908502.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.340000 m, bearing: 239.169893 deg, deltaT: 4.580236 s, approachRate: -0.615688 m/s, LOS rate: -0.670785 deg/s, posRepo size: 4
2021-08-14T02:35:02.861Z,1628908502.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.34 m.
2021-08-14T02:35:02.873Z,1628908502.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.340000 m,
      bearing: 239.169893 deg,
      approachRate: -0.615688 m/s,
      LOS rate: -0.670785 deg/s,
      cmd update: -2.012356 deg/s,
      cmd heading: 250.019905 deg,
      new cmd heading: 248.979416 deg.

2021-08-14T02:35:05.228Z,1628908505.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:35:05.613Z,1628908505.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:35:05.614Z,1628908505.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:35:05.614Z,1628908505.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:35:05.615Z,1628908505.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:35:06.009Z,1628908506.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,004BE,186,80,80,5C,FF
2021-08-14T02:35:06.009Z,1628908506.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:35:06.009Z,1628908506.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:35:06.011Z,1628908506.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:35:06.425Z,1628908506.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:35:06.825Z,1628908506.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,00494,186,80,80,38,FF
2021-08-14T02:35:06.825Z,1628908506.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:35:06.899Z,1628908506.899 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:35:07.269Z,1628908507.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023507.12*5E

2021-08-14T02:35:07.320Z,1628908507.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.820000 m, bearing: 235.990576 deg, deltaT: 4.475687 s, approachRate: -0.563042 m/s, LOS rate: -0.710353 deg/s, posRepo size: 4
2021-08-14T02:35:07.320Z,1628908507.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.82 m.
2021-08-14T02:35:07.323Z,1628908507.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 235.990576 deg,
      approachRate: -0.563042 m/s,
      LOS rate: -0.710353 deg/s,
      cmd update: -2.131058 deg/s,
      cmd heading: 241.055958 deg,
      new cmd heading: 240.171100 deg.

2021-08-14T02:35:09.762Z,1628908509.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:35:10.058Z,1628908510.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:35:10.058Z,1628908510.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:35:10.058Z,1628908510.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:35:10.059Z,1628908510.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:35:10.453Z,1628908510.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,00494,186,80,80,38,FF
2021-08-14T02:35:10.453Z,1628908510.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:35:10.453Z,1628908510.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:35:10.455Z,1628908510.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:35:10.861Z,1628908510.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:35:11.291Z,1628908511.291 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,00472,186,80,80,B1,FF
2021-08-14T02:35:11.291Z,1628908511.291 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:35:11.353Z,1628908511.353 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:35:11.720Z,1628908511.720 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023511.57*58

2021-08-14T02:35:11.831Z,1628908511.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.779999 m, bearing: 238.498376 deg, deltaT: 4.448467 s, approachRate: -0.458585 m/s, LOS rate: 0.563745 deg/s, posRepo size: 4
2021-08-14T02:35:11.836Z,1628908511.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.78 m.
2021-08-14T02:35:11.836Z,1628908511.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.78 m.
2021-08-14T02:35:11.837Z,1628908511.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T02:35:11.839Z,1628908511.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.779999 m,
      bearing: 238.498376 deg,
      approachRate: -0.458585 m/s,
      LOS rate: 0.563745 deg/s,
      cmd update: 1.691234 deg/s,
      cmd heading: 231.554775 deg,
      new cmd heading: 230.504459 deg.

2021-08-14T02:35:13.288Z,1628908513.288 [DDM](ERROR): Could not parse latch state
2021-08-14T02:35:14.124Z,1628908514.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:35:14.511Z,1628908514.511 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:35:14.511Z,1628908514.511 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:35:14.511Z,1628908514.511 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:35:14.514Z,1628908514.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:35:14.922Z,1628908514.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,00472,186,80,80,B1,FF
2021-08-14T02:35:14.923Z,1628908514.923 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:35:14.923Z,1628908514.923 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:35:14.925Z,1628908514.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:35:15.332Z,1628908515.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:35:15.798Z,1628908515.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,0044C,183,80,80,63,FF
2021-08-14T02:35:15.798Z,1628908515.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:35:15.921Z,1628908515.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:35:16.161Z,1628908516.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023516.04*59

2021-08-14T02:35:16.205Z,1628908516.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.500000 m, bearing: 240.677507 deg, deltaT: 4.568493 s, approachRate: -0.499070 m/s, LOS rate: 0.476991 deg/s, posRepo size: 4
2021-08-14T02:35:16.207Z,1628908516.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.500000 m,
      bearing: 240.677507 deg,
      approachRate: -0.499070 m/s,
      LOS rate: 0.476991 deg/s,
      cmd update: 1.430974 deg/s,
      cmd heading: 239.293764 deg,
      new cmd heading: 239.778417 deg.

2021-08-14T02:35:18.574Z,1628908518.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:35:18.957Z,1628908518.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:35:18.957Z,1628908518.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:35:18.957Z,1628908518.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:35:18.958Z,1628908518.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:35:19.384Z,1628908519.384 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,0044C,183,80,80,63,FF
2021-08-14T02:35:19.385Z,1628908519.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:35:19.385Z,1628908519.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:35:19.391Z,1628908519.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:35:19.769Z,1628908519.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:35:20.171Z,1628908520.171 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00423,183,80,80,7A,FF
2021-08-14T02:35:20.171Z,1628908520.171 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:35:20.194Z,1628908520.194 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:35:20.587Z,1628908520.587 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023520.51*5C

2021-08-14T02:35:20.670Z,1628908520.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 239.318900 deg, deltaT: 4.272750 s, approachRate: -0.575742 m/s, LOS rate: -0.317970 deg/s, posRepo size: 4
2021-08-14T02:35:20.673Z,1628908520.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.039999 m,
      bearing: 239.318900 deg,
      approachRate: -0.575742 m/s,
      LOS rate: -0.317970 deg/s,
      cmd update: -0.953910 deg/s,
      cmd heading: 245.413674 deg,
      new cmd heading: 246.099518 deg.

2021-08-14T02:35:23.034Z,1628908523.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:35:23.429Z,1628908523.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:35:23.429Z,1628908523.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:35:23.429Z,1628908523.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:35:23.430Z,1628908523.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:35:23.809Z,1628908523.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,00423,183,80,80,7A,FF
2021-08-14T02:35:23.810Z,1628908523.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:35:23.810Z,1628908523.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:35:23.811Z,1628908523.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:35:24.209Z,1628908524.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:35:24.609Z,1628908524.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FF,000,003FB,186,80,80,55,FF
2021-08-14T02:35:24.610Z,1628908524.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:35:24.650Z,1628908524.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:35:25.081Z,1628908525.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023524.93*56

2021-08-14T02:35:25.121Z,1628908525.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 238.403628 deg, deltaT: 4.455841 s, approachRate: -0.538619 m/s, LOS rate: -0.205410 deg/s, posRepo size: 4
2021-08-14T02:35:25.127Z,1628908525.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.639997 m,
      bearing: 238.403628 deg,
      approachRate: -0.538619 m/s,
      LOS rate: -0.205410 deg/s,
      cmd update: -0.616229 deg/s,
      cmd heading: 241.182318 deg,
      new cmd heading: 240.711980 deg.

2021-08-14T02:35:27.545Z,1628908527.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:35:27.849Z,1628908527.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:35:27.849Z,1628908527.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:35:27.849Z,1628908527.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:35:27.850Z,1628908527.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:35:28.245Z,1628908528.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FF,000,003FB,186,80,80,55,FF
2021-08-14T02:35:28.245Z,1628908528.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:35:28.245Z,1628908528.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:35:28.247Z,1628908528.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:35:28.653Z,1628908528.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:35:29.053Z,1628908529.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,003D4,186,80,80,76,FF
2021-08-14T02:35:29.053Z,1628908529.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:35:29.083Z,1628908529.083 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:35:29.506Z,1628908529.506 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023529.36*54

2021-08-14T02:35:29.550Z,1628908529.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 240.451564 deg, deltaT: 4.436836 s, approachRate: -0.527402 m/s, LOS rate: 0.461576 deg/s, posRepo size: 4
2021-08-14T02:35:29.572Z,1628908529.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 240.451564 deg,
      approachRate: -0.527402 m/s,
      LOS rate: 0.461576 deg/s,
      cmd update: 1.384728 deg/s,
      cmd heading: 238.437936 deg,
      new cmd heading: 238.148790 deg.

2021-08-14T02:35:31.937Z,1628908531.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:35:32.286Z,1628908532.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:35:32.286Z,1628908532.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:35:32.286Z,1628908532.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:35:32.287Z,1628908532.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:35:32.708Z,1628908532.708 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,003D4,186,80,80,76,FF
2021-08-14T02:35:32.709Z,1628908532.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:35:32.710Z,1628908532.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:35:32.717Z,1628908532.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:35:33.118Z,1628908533.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:35:33.498Z,1628908533.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,003B4,186,80,80,78,FF
2021-08-14T02:35:33.498Z,1628908533.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:35:33.572Z,1628908533.572 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:35:33.919Z,1628908533.919 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023533.83*51

2021-08-14T02:35:33.974Z,1628908533.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 237.359510 deg, deltaT: 4.485294 s, approachRate: -0.428066 m/s, LOS rate: -0.689376 deg/s, posRepo size: 4
2021-08-14T02:35:33.980Z,1628908533.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.379997 m,
      bearing: 237.359510 deg,
      approachRate: -0.428066 m/s,
      LOS rate: -0.689376 deg/s,
      cmd update: -2.068128 deg/s,
      cmd heading: 244.641995 deg,
      new cmd heading: 245.205966 deg.

2021-08-14T02:35:36.371Z,1628908536.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:35:36.761Z,1628908536.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:35:36.762Z,1628908536.762 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:35:36.762Z,1628908536.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:35:36.763Z,1628908536.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:35:37.145Z,1628908537.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,003B4,186,80,80,78,FF
2021-08-14T02:35:37.145Z,1628908537.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:35:37.145Z,1628908537.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:35:37.147Z,1628908537.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:35:37.541Z,1628908537.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:35:37.953Z,1628908537.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11E,000,0037D,185,80,80,AB,FF
2021-08-14T02:35:37.953Z,1628908537.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:35:38.016Z,1628908538.016 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:35:38.385Z,1628908538.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023538.26*55

2021-08-14T02:35:38.418Z,1628908538.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 234.117247 deg, deltaT: 4.443822 s, approachRate: -0.742604 m/s, LOS rate: -0.729611 deg/s, posRepo size: 4
2021-08-14T02:35:38.420Z,1628908538.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.079996 m,
      bearing: 234.117247 deg,
      approachRate: -0.742604 m/s,
      LOS rate: -0.729611 deg/s,
      cmd update: -2.188834 deg/s,
      cmd heading: 235.451243 deg,
      new cmd heading: 234.600626 deg.

2021-08-14T02:35:40.797Z,1628908540.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:35:41.182Z,1628908541.182 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:35:41.182Z,1628908541.182 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:35:41.182Z,1628908541.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:35:41.183Z,1628908541.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:35:41.577Z,1628908541.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11E,000,0037D,185,80,80,AB,FF
2021-08-14T02:35:41.577Z,1628908541.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:35:41.577Z,1628908541.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:35:41.579Z,1628908541.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:35:42.001Z,1628908542.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:35:42.401Z,1628908542.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,00357,183,80,80,9D,FF
2021-08-14T02:35:42.401Z,1628908542.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:35:42.441Z,1628908542.441 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:35:42.845Z,1628908542.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023542.70*5B

2021-08-14T02:35:42.911Z,1628908542.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 238.304371 deg, deltaT: 4.425288 s, approachRate: -0.515219 m/s, LOS rate: 0.946181 deg/s, posRepo size: 4
2021-08-14T02:35:42.917Z,1628908542.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.800002 m,
      bearing: 238.304371 deg,
      approachRate: -0.515219 m/s,
      LOS rate: 0.946181 deg/s,
      cmd update: 2.838544 deg/s,
      cmd heading: 225.747107 deg,
      new cmd heading: 224.711714 deg.

2021-08-14T02:35:45.254Z,1628908545.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:35:45.621Z,1628908545.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:35:45.621Z,1628908545.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:35:45.621Z,1628908545.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:35:45.622Z,1628908545.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:35:46.025Z,1628908546.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,00357,183,80,80,9D,FF
2021-08-14T02:35:46.025Z,1628908546.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:35:46.025Z,1628908546.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:35:46.027Z,1628908546.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:35:46.432Z,1628908546.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:35:46.841Z,1628908546.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,00331,186,80,80,99,FF
2021-08-14T02:35:46.841Z,1628908546.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:35:46.920Z,1628908546.920 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:35:47.282Z,1628908547.282 [Micromodem](INFO): Nmea in: $SNTTA,0.038042,,,,023547.14*4F

2021-08-14T02:35:47.310Z,1628908547.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 233.770546 deg, deltaT: 4.478882 s, approachRate: -0.509056 m/s, LOS rate: -1.012267 deg/s, posRepo size: 4
2021-08-14T02:35:47.313Z,1628908547.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 233.770546 deg,
      approachRate: -0.509056 m/s,
      LOS rate: -1.012267 deg/s,
      cmd update: -3.036801 deg/s,
      cmd heading: 238.436879 deg,
      new cmd heading: 239.571978 deg.

2021-08-14T02:35:49.761Z,1628908549.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:35:50.061Z,1628908550.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:35:50.061Z,1628908550.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:35:50.061Z,1628908550.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:35:50.062Z,1628908550.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:35:50.469Z,1628908550.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,00331,186,80,80,99,FF
2021-08-14T02:35:50.469Z,1628908550.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:35:50.469Z,1628908550.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:35:50.471Z,1628908550.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:35:50.885Z,1628908550.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:35:51.277Z,1628908551.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,00308,186,80,80,AD,FF
2021-08-14T02:35:51.277Z,1628908551.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:35:51.331Z,1628908551.331 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:35:51.706Z,1628908551.706 [Micromodem](INFO): Nmea in: $SNTTA,0.034739,0.358403,,,023551.59*51

2021-08-14T02:35:51.795Z,1628908551.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.059999 m, bearing: 232.762192 deg, deltaT: 4.410460 s, approachRate: -0.557765 m/s, LOS rate: -0.228628 deg/s, posRepo size: 4
2021-08-14T02:35:51.797Z,1628908551.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 232.762192 deg,
      approachRate: -0.557765 m/s,
      LOS rate: -0.228628 deg/s,
      cmd update: -0.685884 deg/s,
      cmd heading: 225.030093 deg,
      new cmd heading: 223.599107 deg.

2021-08-14T02:35:54.123Z,1628908554.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:35:54.509Z,1628908554.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:35:54.509Z,1628908554.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:35:54.509Z,1628908554.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:35:54.510Z,1628908554.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:35:54.917Z,1628908554.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,00308,186,80,80,AD,FF
2021-08-14T02:35:54.918Z,1628908554.918 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:35:54.918Z,1628908554.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:35:54.920Z,1628908554.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:35:55.329Z,1628908555.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:35:55.750Z,1628908555.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FED,000,002E6,183,80,80,BC,FF
2021-08-14T02:35:55.750Z,1628908555.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:35:55.753Z,1628908555.753 [Micromodem](INFO): Nmea in: $SNTTA,0.176959,0.136396,,,023556.03*57

2021-08-14T02:35:55.870Z,1628908555.870 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:35:56.167Z,1628908556.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.020000 m, bearing: 236.890085 deg, deltaT: 4.539631 s, approachRate: -0.449376 m/s, LOS rate: 0.909301 deg/s, posRepo size: 4
2021-08-14T02:35:56.170Z,1628908556.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.020000 m,
      bearing: 236.890085 deg,
      approachRate: -0.449376 m/s,
      LOS rate: 0.909301 deg/s,
      cmd update: 2.727905 deg/s,
      cmd heading: 221.919182 deg,
      new cmd heading: 221.707654 deg.

2021-08-14T02:35:58.575Z,1628908558.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:35:58.969Z,1628908558.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:35:58.969Z,1628908558.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:35:58.969Z,1628908558.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:35:58.970Z,1628908558.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:35:59.406Z,1628908559.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FED,000,002E6,183,80,80,BC,FF
2021-08-14T02:35:59.406Z,1628908559.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:35:59.407Z,1628908559.407 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:35:59.413Z,1628908559.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:35:59.769Z,1628908559.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:36:00.174Z,1628908560.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37F,000,002C8,189,80,80,82,FF
2021-08-14T02:36:00.175Z,1628908560.175 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:36:00.195Z,1628908560.195 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:36:00.663Z,1628908560.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.220001 m, bearing: 179.834154 deg, deltaT: 4.324285 s, approachRate: -0.416254 m/s, LOS rate: -13.194304 deg/s, posRepo size: 4
2021-08-14T02:36:00.668Z,1628908560.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.194304 deg/s. Setting heading cmd to target bearing of 179.834154deg and heading rate command to 0 deg/s.
2021-08-14T02:36:03.056Z,1628908563.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:36:03.417Z,1628908563.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:36:03.418Z,1628908563.418 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:36:03.418Z,1628908563.418 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:36:03.420Z,1628908563.420 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:36:03.813Z,1628908563.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37F,000,002C8,189,80,80,82,FF
2021-08-14T02:36:03.813Z,1628908563.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:36:03.813Z,1628908563.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:36:03.815Z,1628908563.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:36:04.217Z,1628908564.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:36:04.619Z,1628908564.619 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,002BD,186,80,80,8B,FF
2021-08-14T02:36:04.619Z,1628908564.619 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:36:04.639Z,1628908564.639 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:36:05.065Z,1628908565.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023604.93*57

2021-08-14T02:36:05.114Z,1628908565.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 222.904699 deg, deltaT: 4.444535 s, approachRate: -0.148497 m/s, LOS rate: 9.690675 deg/s, posRepo size: 4
2021-08-14T02:36:05.120Z,1628908565.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 222.904699 deg,
      approachRate: -0.148497 m/s,
      LOS rate: 9.690675 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 179.834154 deg,
      new cmd heading: 179.834154 deg.

2021-08-14T02:36:07.515Z,1628908567.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:36:07.856Z,1628908567.856 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:36:07.856Z,1628908567.856 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:36:07.857Z,1628908567.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:36:07.858Z,1628908567.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:36:08.253Z,1628908568.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,002BD,186,80,80,8B,FF
2021-08-14T02:36:08.253Z,1628908568.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:36:08.253Z,1628908568.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:36:08.255Z,1628908568.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:36:08.707Z,1628908568.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:36:09.061Z,1628908569.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,002CA,186,80,80,7D,FF
2021-08-14T02:36:09.061Z,1628908569.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:36:09.114Z,1628908569.114 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:36:09.509Z,1628908569.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023609.37*54

2021-08-14T02:36:09.574Z,1628908569.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 241.900056 deg, deltaT: 4.475271 s, approachRate: 0.174291 m/s, LOS rate: 4.244516 deg/s, posRepo size: 4
2021-08-14T02:36:09.580Z,1628908569.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 241.900056 deg,
      approachRate: 0.174291 m/s,
      LOS rate: 4.244516 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 233.489528 deg,
      new cmd heading: 239.028213 deg.

2021-08-14T02:36:11.948Z,1628908571.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:36:12.286Z,1628908572.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:36:12.286Z,1628908572.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:36:12.287Z,1628908572.287 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:36:12.287Z,1628908572.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:36:12.705Z,1628908572.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,002CA,186,80,80,7D,FF
2021-08-14T02:36:12.706Z,1628908572.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:36:12.707Z,1628908572.707 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:36:12.714Z,1628908572.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:36:13.097Z,1628908573.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:36:13.535Z,1628908573.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,002EA,187,80,80,53,FF
2021-08-14T02:36:13.536Z,1628908573.536 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:36:13.539Z,1628908573.539 [Micromodem](INFO): Nmea in: $SNTTA,0.278717,0.278311,,,023613.83*52

2021-08-14T02:36:13.609Z,1628908573.609 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:36:13.955Z,1628908573.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.259999 m, bearing: 219.235262 deg, deltaT: 4.494534 s, approachRate: 0.427186 m/s, LOS rate: -5.042746 deg/s, posRepo size: 4
2021-08-14T02:36:13.973Z,1628908573.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 219.235262 deg,
      approachRate: 0.427186 m/s,
      LOS rate: -5.042746 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 287.374738 deg,
      new cmd heading: 291.659314 deg.

2021-08-14T02:36:16.364Z,1628908576.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:36:16.770Z,1628908576.770 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:36:16.770Z,1628908576.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:36:16.770Z,1628908576.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:36:16.771Z,1628908576.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:36:17.133Z,1628908577.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,002EA,187,80,80,53,FF
2021-08-14T02:36:17.133Z,1628908577.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:36:17.133Z,1628908577.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:36:17.135Z,1628908577.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:36:17.544Z,1628908577.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:36:17.945Z,1628908577.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,0033A,186,80,80,94,FF
2021-08-14T02:36:17.945Z,1628908577.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:36:18.000Z,1628908578.000 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:36:18.386Z,1628908578.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023618.25*57

2021-08-14T02:36:18.431Z,1628908578.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.059997 m, bearing: 224.167970 deg, deltaT: 4.391653 s, approachRate: 1.092982 m/s, LOS rate: 1.123201 deg/s, posRepo size: 4
2021-08-14T02:36:18.433Z,1628908578.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 224.167970 deg,
      approachRate: 1.092982 m/s,
      LOS rate: 1.123201 deg/s,
      cmd update: 3.369603 deg/s,
      cmd heading: 234.870176 deg,
      new cmd heading: 229.372580 deg.

2021-08-14T02:36:20.849Z,1628908580.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:36:21.177Z,1628908581.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:36:21.177Z,1628908581.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:36:21.178Z,1628908581.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:36:21.179Z,1628908581.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:36:21.577Z,1628908581.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,0033A,186,80,80,94,FF
2021-08-14T02:36:21.577Z,1628908581.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:36:21.577Z,1628908581.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:36:21.579Z,1628908581.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:36:21.994Z,1628908581.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:36:22.397Z,1628908582.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09C,000,00348,187,80,80,5B,FF
2021-08-14T02:36:22.397Z,1628908582.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:36:22.476Z,1628908582.476 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:36:22.832Z,1628908582.832 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023622.70*5E

2021-08-14T02:36:22.859Z,1628908582.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.899998 m, bearing: 237.748804 deg, deltaT: 4.475918 s, approachRate: 0.187671 m/s, LOS rate: 3.034201 deg/s, posRepo size: 4
2021-08-14T02:36:22.861Z,1628908582.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.899998 m,
      bearing: 237.748804 deg,
      approachRate: 0.187671 m/s,
      LOS rate: 3.034201 deg/s,
      cmd update: 9.102602 deg/s,
      cmd heading: 249.952322 deg,
      new cmd heading: 251.334846 deg.

2021-08-14T02:36:25.232Z,1628908585.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:36:25.633Z,1628908585.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:36:25.633Z,1628908585.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:36:25.634Z,1628908585.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:36:25.635Z,1628908585.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:36:26.017Z,1628908586.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09C,000,00348,187,80,80,5B,FF
2021-08-14T02:36:26.017Z,1628908586.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:36:26.018Z,1628908586.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:36:26.019Z,1628908586.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:36:26.425Z,1628908586.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:36:26.839Z,1628908586.839 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,0036C,186,80,80,82,FF
2021-08-14T02:36:26.839Z,1628908586.839 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:36:26.869Z,1628908586.869 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:36:27.269Z,1628908587.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023627.13*5E

2021-08-14T02:36:27.327Z,1628908587.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.059998 m, bearing: 260.304493 deg, deltaT: 4.392940 s, approachRate: 0.491698 m/s, LOS rate: 5.134532 deg/s, posRepo size: 4
2021-08-14T02:36:27.341Z,1628908587.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.059998 m,
      bearing: 260.304493 deg,
      approachRate: 0.491698 m/s,
      LOS rate: 5.134532 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 290.161430 deg,
      new cmd heading: 294.349510 deg.

2021-08-14T02:36:28.864Z,1628908588.864 [PowerOnly](INFO): Powering down loadControl
2021-08-14T02:36:29.751Z,1628908589.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:36:30.066Z,1628908590.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:36:30.066Z,1628908590.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:36:30.066Z,1628908590.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:36:30.067Z,1628908590.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:36:30.465Z,1628908590.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,0036C,186,80,80,82,FF
2021-08-14T02:36:30.465Z,1628908590.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:36:30.465Z,1628908590.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:36:30.467Z,1628908590.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:36:30.877Z,1628908590.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:36:31.273Z,1628908591.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,0038B,186,80,80,4A,FF
2021-08-14T02:36:31.273Z,1628908591.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:36:31.334Z,1628908591.334 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:36:31.733Z,1628908591.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023631.58*56

2021-08-14T02:36:31.804Z,1628908591.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.919998 m, bearing: 285.943711 deg, deltaT: 4.464371 s, approachRate: 0.416632 m/s, LOS rate: 5.743075 deg/s, posRepo size: 4
2021-08-14T02:36:31.806Z,1628908591.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.919998 m,
      bearing: 285.943711 deg,
      approachRate: 0.416632 m/s,
      LOS rate: 5.743075 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 343.676932 deg,
      new cmd heading: 349.413616 deg.

2021-08-14T02:36:34.127Z,1628908594.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:36:34.509Z,1628908594.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:36:34.509Z,1628908594.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:36:34.509Z,1628908594.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:36:34.510Z,1628908594.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:36:34.909Z,1628908594.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,0038B,186,80,80,4A,FF
2021-08-14T02:36:34.909Z,1628908594.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:36:34.909Z,1628908594.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:36:34.911Z,1628908594.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:36:35.321Z,1628908595.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:36:35.725Z,1628908595.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,003AD,183,80,80,6B,FF
2021-08-14T02:36:35.726Z,1628908595.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:36:35.801Z,1628908595.801 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:36:36.169Z,1628908596.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023636.03*5F

2021-08-14T02:36:36.203Z,1628908596.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 295.603511 deg, deltaT: 4.467228 s, approachRate: 0.456660 m/s, LOS rate: 2.162370 deg/s, posRepo size: 4
2021-08-14T02:36:36.206Z,1628908596.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 295.603511 deg,
      approachRate: 0.456660 m/s,
      LOS rate: 2.162370 deg/s,
      cmd update: 6.487110 deg/s,
      cmd heading: 37.337825 deg,
      new cmd heading: 42.206273 deg.

2021-08-14T02:36:38.569Z,1628908598.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:36:38.949Z,1628908598.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:36:38.949Z,1628908598.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:36:38.949Z,1628908598.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:36:38.950Z,1628908598.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:36:39.385Z,1628908599.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,003AD,183,80,80,6B,FF
2021-08-14T02:36:39.386Z,1628908599.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:36:39.386Z,1628908599.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:36:39.401Z,1628908599.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:36:39.458Z,1628908599.458 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T02:36:39.772Z,1628908599.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:36:40.175Z,1628908600.175 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,003B8,186,80,80,6C,FF
2021-08-14T02:36:40.176Z,1628908600.176 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:36:40.195Z,1628908600.195 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:36:40.595Z,1628908600.595 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023640.52*5A

2021-08-14T02:36:40.631Z,1628908600.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.619999 m, bearing: 330.467638 deg, deltaT: 4.393768 s, approachRate: 0.150212 m/s, LOS rate: 7.934904 deg/s, posRepo size: 4
2021-08-14T02:36:40.646Z,1628908600.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 330.467638 deg,
      approachRate: 0.150212 m/s,
      LOS rate: 7.934904 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 65.842257 deg,
      new cmd heading: 68.682742 deg.

2021-08-14T02:36:43.036Z,1628908603.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:36:43.412Z,1628908603.412 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:36:43.413Z,1628908603.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:36:43.413Z,1628908603.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:36:43.415Z,1628908603.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:36:43.797Z,1628908603.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,003B8,186,80,80,6C,FF
2021-08-14T02:36:43.797Z,1628908603.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:36:43.797Z,1628908603.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:36:43.799Z,1628908603.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:36:44.213Z,1628908604.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:36:44.605Z,1628908604.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,003D7,187,80,80,96,FF
2021-08-14T02:36:44.606Z,1628908604.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:36:44.631Z,1628908604.631 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:36:45.070Z,1628908605.070 [Micromodem](INFO): Nmea in: $SNTTA,0.034275,,,,023644.92*4B

2021-08-14T02:36:45.096Z,1628908605.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 0.700646 deg, deltaT: 4.436129 s, approachRate: 0.419285 m/s, LOS rate: 6.815177 deg/s, posRepo size: 4
2021-08-14T02:36:45.098Z,1628908605.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.480000 m,
      bearing: 0.700646 deg,
      approachRate: 0.419285 m/s,
      LOS rate: 6.815177 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 119.011811 deg,
      new cmd heading: 124.689839 deg.

2021-08-14T02:36:47.528Z,1628908607.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:36:47.849Z,1628908607.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:36:47.849Z,1628908607.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:36:47.849Z,1628908607.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:36:47.850Z,1628908607.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:36:48.237Z,1628908608.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,003D7,187,80,80,96,FF
2021-08-14T02:36:48.237Z,1628908608.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:36:48.238Z,1628908608.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:36:48.239Z,1628908608.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:36:48.649Z,1628908608.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:36:49.061Z,1628908609.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E48,000,003D9,185,80,80,60,FF
2021-08-14T02:36:49.061Z,1628908609.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:36:49.091Z,1628908609.091 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:36:49.509Z,1628908609.509 [Micromodem](INFO): Nmea in: $SNTTA,0.089474,,,,023649.36*49

2021-08-14T02:36:49.585Z,1628908609.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 15.692361 deg, deltaT: 4.460205 s, approachRate: 0.026905 m/s, LOS rate: 3.361217 deg/s, posRepo size: 4
2021-08-14T02:36:49.587Z,1628908609.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.600000 m,
      bearing: 15.692361 deg,
      approachRate: 0.026905 m/s,
      LOS rate: 3.361217 deg/s,
      cmd update: 10.083651 deg/s,
      cmd heading: 172.598185 deg,
      new cmd heading: 178.369237 deg.

2021-08-14T02:36:51.918Z,1628908611.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:36:52.281Z,1628908612.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:36:52.282Z,1628908612.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:36:52.282Z,1628908612.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:36:52.283Z,1628908612.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:36:52.696Z,1628908612.696 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E48,000,003D9,185,80,80,60,FF
2021-08-14T02:36:52.697Z,1628908612.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:36:52.697Z,1628908612.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:36:52.703Z,1628908612.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:36:53.093Z,1628908613.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:36:53.493Z,1628908613.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,003CD,188,80,80,95,FF
2021-08-14T02:36:53.493Z,1628908613.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:36:53.556Z,1628908613.556 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:36:53.921Z,1628908613.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023653.82*55

2021-08-14T02:36:53.959Z,1628908613.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.879999 m, bearing: 41.488089 deg, deltaT: 4.465357 s, approachRate: -0.161242 m/s, LOS rate: 5.776857 deg/s, posRepo size: 4
2021-08-14T02:36:53.961Z,1628908613.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.879999 m,
      bearing: 41.488089 deg,
      approachRate: -0.161242 m/s,
      LOS rate: 5.776857 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 217.589256 deg,
      new cmd heading: 221.714276 deg.

2021-08-14T02:36:56.363Z,1628908616.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:36:56.761Z,1628908616.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:36:56.761Z,1628908616.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:36:56.761Z,1628908616.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:36:56.762Z,1628908616.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:36:57.129Z,1628908617.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,003CD,188,80,80,95,FF
2021-08-14T02:36:57.129Z,1628908617.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:36:57.129Z,1628908617.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:36:57.131Z,1628908617.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:36:57.537Z,1628908617.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:36:57.945Z,1628908617.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,003DC,189,80,80,4A,FF
2021-08-14T02:36:57.945Z,1628908617.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:36:58.005Z,1628908618.005 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:36:58.369Z,1628908618.369 [Micromodem](INFO): Nmea in: $SNTTA,0.489058,,,,023658.25*45

2021-08-14T02:36:58.420Z,1628908618.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 337.195948 deg, deltaT: 4.448128 s, approachRate: 0.202332 m/s, LOS rate: -14.453754 deg/s, posRepo size: 4
2021-08-14T02:36:58.421Z,1628908618.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.453754 deg/s. Setting heading cmd to target bearing of 337.195948deg and heading rate command to 0 deg/s.
2021-08-14T02:36:59.573Z,1628908619.573 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T02:37:00.866Z,1628908620.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:01.169Z,1628908621.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:37:01.169Z,1628908621.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:37:01.169Z,1628908621.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:37:01.170Z,1628908621.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:37:01.581Z,1628908621.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,003DC,189,80,80,4A,FF
2021-08-14T02:37:01.581Z,1628908621.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:37:01.581Z,1628908621.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:37:01.583Z,1628908621.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:37:01.989Z,1628908621.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:37:02.389Z,1628908622.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,003EE,186,80,80,51,FF
2021-08-14T02:37:02.390Z,1628908622.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:37:02.409Z,1628908622.409 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:37:02.817Z,1628908622.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023702.70*5D

2021-08-14T02:37:02.863Z,1628908622.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 5.886508 deg, deltaT: 4.404184 s, approachRate: 0.245222 m/s, LOS rate: 6.514386 deg/s, posRepo size: 4
2021-08-14T02:37:02.870Z,1628908622.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.860001 m,
      bearing: 5.886508 deg,
      approachRate: 0.245222 m/s,
      LOS rate: 6.514386 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 337.195948 deg,
      new cmd heading: 337.195948 deg.

2021-08-14T02:37:05.231Z,1628908625.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:05.629Z,1628908625.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:37:05.629Z,1628908625.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:37:05.629Z,1628908625.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:37:05.630Z,1628908625.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:37:06.025Z,1628908626.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,003EE,186,80,80,51,FF
2021-08-14T02:37:06.025Z,1628908626.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:37:06.025Z,1628908626.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:37:06.027Z,1628908626.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:37:06.433Z,1628908626.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:37:07.262Z,1628908627.262 [Micromodem](INFO): Nmea in: $SNTTA,0.057837,,,,023707.15*4B

2021-08-14T02:37:07.752Z,1628908627.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:08.054Z,1628908628.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,03613,186,80,80,8F,FF
2021-08-14T02:37:08.054Z,1628908628.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:37:08.073Z,1628908628.073 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:37:08.479Z,1628908628.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 793.080017 m, bearing: 337.369271 deg, deltaT: 5.664786 s, approachRate: 135.966309 m/s, LOS rate: -5.034123 deg/s, posRepo size: 4
2021-08-14T02:37:08.482Z,1628908628.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 793.080017 m,
      bearing: 337.369271 deg,
      approachRate: 135.966309 m/s,
      LOS rate: -5.034123 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 45.173634 deg,
      new cmd heading: 50.080290 deg.

2021-08-14T02:37:08.899Z,1628908628.899 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:37:08.899Z,1628908628.899 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:37:08.900Z,1628908628.900 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:37:08.901Z,1628908628.901 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:37:08.901Z,1628908628.901 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:37:08.901Z,1628908628.901 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:37:09.283Z,1628908629.283 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:37:09.283Z,1628908629.283 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:37:09.283Z,1628908629.283 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:37:09.283Z,1628908629.283 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:37:10.906Z,1628908630.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:11.278Z,1628908631.278 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:37:11.278Z,1628908631.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:37:11.278Z,1628908631.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:37:11.279Z,1628908631.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:37:11.685Z,1628908631.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,03613,186,80,80,8F,FF
2021-08-14T02:37:11.685Z,1628908631.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:37:11.686Z,1628908631.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:37:11.708Z,1628908631.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:37:11.794Z,1628908631.794 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-14T02:37:12.097Z,1628908632.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:37:12.481Z,1628908632.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,00459,186,80,80,9B,FF
2021-08-14T02:37:12.481Z,1628908632.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:37:12.900Z,1628908632.900 [Micromodem](INFO): Nmea in: $SNTTA,0.043063,,,,023712.83*4C

2021-08-14T02:37:12.951Z,1628908632.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.280003 m, bearing: 357.665970 deg, deltaT: 4.455560 s, approachRate: -171.426254 m/s, LOS rate: 4.555364 deg/s, posRepo size: 4
2021-08-14T02:37:12.954Z,1628908632.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 357.665970 deg,
      approachRate: -171.426254 m/s,
      LOS rate: 4.555364 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 351.751181 deg,
      new cmd heading: 346.605629 deg.

2021-08-14T02:37:13.337Z,1628908633.337 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:37:13.337Z,1628908633.337 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:37:13.337Z,1628908633.337 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:37:13.338Z,1628908633.338 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:37:13.338Z,1628908633.338 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:37:13.338Z,1628908633.338 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:37:13.810Z,1628908633.810 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:37:13.810Z,1628908633.810 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:37:13.810Z,1628908633.810 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:37:13.810Z,1628908633.810 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:37:15.430Z,1628908635.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:15.733Z,1628908635.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:37:15.733Z,1628908635.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:37:15.733Z,1628908635.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:37:15.734Z,1628908635.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:37:16.126Z,1628908636.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,00459,186,80,80,9B,FF
2021-08-14T02:37:16.126Z,1628908636.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:37:16.127Z,1628908636.127 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:37:16.130Z,1628908636.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:37:16.529Z,1628908636.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:37:16.926Z,1628908636.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4F,000,00470,186,80,80,3D,FF
2021-08-14T02:37:16.927Z,1628908636.927 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:37:16.998Z,1628908636.998 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:37:17.389Z,1628908637.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023717.25*59

2021-08-14T02:37:17.466Z,1628908637.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.659998 m, bearing: 21.170113 deg, deltaT: 4.469294 s, approachRate: 0.308773 m/s, LOS rate: 5.259029 deg/s, posRepo size: 4
2021-08-14T02:37:17.469Z,1628908637.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.659998 m,
      bearing: 21.170113 deg,
      approachRate: 0.308773 m/s,
      LOS rate: 5.259029 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 45.426666 deg,
      new cmd heading: 51.078246 deg.

2021-08-14T02:37:19.458Z,1628908639.458 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T02:37:19.806Z,1628908639.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:20.157Z,1628908640.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:37:20.157Z,1628908640.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:37:20.157Z,1628908640.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:37:20.158Z,1628908640.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:37:20.557Z,1628908640.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4F,000,00470,186,80,80,3D,FF
2021-08-14T02:37:20.557Z,1628908640.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:37:20.558Z,1628908640.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:37:20.559Z,1628908640.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:37:20.968Z,1628908640.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:37:21.390Z,1628908641.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00493,187,80,80,92,FF
2021-08-14T02:37:21.391Z,1628908641.391 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:37:21.491Z,1628908641.491 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:37:21.809Z,1628908641.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023721.68*55

2021-08-14T02:37:21.868Z,1628908641.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.760002 m, bearing: 22.878706 deg, deltaT: 4.497164 s, approachRate: 0.466962 m/s, LOS rate: 0.379927 deg/s, posRepo size: 4
2021-08-14T02:37:21.870Z,1628908641.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.760002 m,
      bearing: 22.878706 deg,
      approachRate: 0.466962 m/s,
      LOS rate: 0.379927 deg/s,
      cmd update: 1.139780 deg/s,
      cmd heading: 99.293647 deg,
      new cmd heading: 103.899296 deg.

2021-08-14T02:37:24.214Z,1628908644.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:24.609Z,1628908644.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:37:24.610Z,1628908644.610 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:37:24.610Z,1628908644.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:37:24.611Z,1628908644.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:37:25.005Z,1628908645.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00493,187,80,80,92,FF
2021-08-14T02:37:25.005Z,1628908645.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:37:25.005Z,1628908645.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:37:25.007Z,1628908645.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:37:25.485Z,1628908645.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:37:25.875Z,1628908645.875 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,004A6,188,80,80,63,FF
2021-08-14T02:37:25.875Z,1628908645.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:37:25.967Z,1628908645.967 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:37:26.314Z,1628908646.314 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023726.12*5F

2021-08-14T02:37:26.341Z,1628908646.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.900002 m, bearing: 59.516493 deg, deltaT: 4.471248 s, approachRate: 0.254962 m/s, LOS rate: 8.194085 deg/s, posRepo size: 4
2021-08-14T02:37:26.343Z,1628908646.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.900002 m,
      bearing: 59.516493 deg,
      approachRate: 0.254962 m/s,
      LOS rate: 8.194085 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 104.394723 deg,
      new cmd heading: 104.828868 deg.

2021-08-14T02:37:28.758Z,1628908648.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:29.105Z,1628908649.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:37:29.105Z,1628908649.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:37:29.105Z,1628908649.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:37:29.106Z,1628908649.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:37:29.513Z,1628908649.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,004A6,188,80,80,63,FF
2021-08-14T02:37:29.513Z,1628908649.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:37:29.513Z,1628908649.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:37:29.515Z,1628908649.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:37:29.589Z,1628908649.589 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T02:37:29.921Z,1628908649.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:37:30.333Z,1628908650.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,251,000,004B6,187,80,80,56,FF
2021-08-14T02:37:30.334Z,1628908650.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:37:30.381Z,1628908650.381 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:37:30.775Z,1628908650.775 [Micromodem](INFO): Nmea in: $SNTTA,,0.022724,,,023730.63*41

2021-08-14T02:37:30.827Z,1628908650.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.859997 m, bearing: 20.917465 deg, deltaT: 4.414668 s, approachRate: 0.217456 m/s, LOS rate: -8.743359 deg/s, posRepo size: 4
2021-08-14T02:37:30.832Z,1628908650.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 34.86 m. Rolling out.
2021-08-14T02:37:30.832Z,1628908650.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T02:37:33.167Z,1628908653.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:33.553Z,1628908653.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:37:33.553Z,1628908653.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:37:33.553Z,1628908653.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:37:33.554Z,1628908653.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:37:33.965Z,1628908653.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
251,000,004B6,187,80,80,56,FF
2021-08-14T02:37:33.965Z,1628908653.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:37:33.965Z,1628908653.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:37:33.967Z,1628908653.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:37:34.372Z,1628908654.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:37:34.773Z,1628908654.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE0,000,004BA,188,80,80,A8,FF
2021-08-14T02:37:34.773Z,1628908654.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:37:34.846Z,1628908654.846 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:37:35.205Z,1628908655.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023735.08*56

2021-08-14T02:37:35.237Z,1628908655.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.099998 m, bearing: 94.383802 deg, deltaT: 4.464784 s, approachRate: 0.053754 m/s, LOS rate: 16.454622 deg/s, posRepo size: 4
2021-08-14T02:37:37.654Z,1628908657.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:38.001Z,1628908658.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:37:38.001Z,1628908658.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:37:38.001Z,1628908658.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:37:38.002Z,1628908658.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:37:38.413Z,1628908658.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE0,000,004BA,188,80,80,A8,FF
2021-08-14T02:37:38.413Z,1628908658.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:37:38.413Z,1628908658.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:37:38.415Z,1628908658.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:37:38.813Z,1628908658.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:37:39.215Z,1628908659.215 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C4C,000,004B8,189,80,80,54,FF
2021-08-14T02:37:39.215Z,1628908659.215 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:37:39.235Z,1628908659.235 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:37:39.661Z,1628908659.661 [Micromodem](INFO): Nmea in: $SNTTA,0.156663,,,,023739.53*4B

2021-08-14T02:37:39.670Z,1628908659.670 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:37:39.745Z,1628908659.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.980000 m, bearing: 131.400996 deg, deltaT: 4.388695 s, approachRate: -0.027343 m/s, LOS rate: 8.434670 deg/s, posRepo size: 4
2021-08-14T02:37:41.654Z,1628908661.654 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:37:42.075Z,1628908662.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:42.443Z,1628908662.443 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:37:42.443Z,1628908662.443 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:37:42.444Z,1628908662.444 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:37:42.445Z,1628908662.445 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:37:42.849Z,1628908662.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C4C,000,004B8,189,80,80,54,FF
2021-08-14T02:37:42.850Z,1628908662.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:37:42.850Z,1628908662.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:37:42.852Z,1628908662.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:37:43.253Z,1628908663.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:37:43.662Z,1628908663.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,004AB,189,80,80,7B,FF
2021-08-14T02:37:43.663Z,1628908663.663 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:37:43.820Z,1628908663.820 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:37:44.093Z,1628908664.093 [Micromodem](INFO): Nmea in: $SNTTA,0.032165,,,,023743.97*4C

2021-08-14T02:37:44.133Z,1628908664.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 163.677492 deg, deltaT: 4.585292 s, approachRate: -0.170109 m/s, LOS rate: 7.039137 deg/s, posRepo size: 4
2021-08-14T02:37:46.498Z,1628908666.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:46.881Z,1628908666.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:37:46.882Z,1628908666.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:37:46.882Z,1628908666.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:37:46.883Z,1628908666.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:37:47.302Z,1628908667.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,004AB,189,80,80,7B,FF
2021-08-14T02:37:47.302Z,1628908667.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:37:47.303Z,1628908667.303 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:37:47.305Z,1628908667.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:37:47.718Z,1628908667.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:37:48.097Z,1628908668.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CEB,000,00494,188,80,80,A3,FF
2021-08-14T02:37:48.097Z,1628908668.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:37:48.156Z,1628908668.156 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:37:48.530Z,1628908668.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023748.43*53

2021-08-14T02:37:48.556Z,1628908668.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.820000 m, bearing: 157.711800 deg, deltaT: 4.336093 s, approachRate: -0.318259 m/s, LOS rate: -1.375822 deg/s, posRepo size: 4
2021-08-14T02:37:49.772Z,1628908669.772 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T02:37:50.982Z,1628908670.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:51.349Z,1628908671.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:37:51.350Z,1628908671.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:37:51.350Z,1628908671.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:37:51.351Z,1628908671.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:37:51.765Z,1628908671.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CEB,000,00494,188,80,80,A3,FF
2021-08-14T02:37:51.765Z,1628908671.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:37:51.765Z,1628908671.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:37:51.767Z,1628908671.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:37:52.137Z,1628908672.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:37:52.542Z,1628908672.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,00475,18A,80,80,3E,FF
2021-08-14T02:37:52.542Z,1628908672.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:37:52.567Z,1628908672.567 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:37:52.956Z,1628908672.956 [Micromodem](INFO): Nmea in: $SNTTA,0.034695,,,,023752.88*4C

2021-08-14T02:37:53.003Z,1628908673.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.959999 m, bearing: 165.213697 deg, deltaT: 4.410534 s, approachRate: -0.421718 m/s, LOS rate: 1.700905 deg/s, posRepo size: 4
2021-08-14T02:37:55.451Z,1628908675.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:55.784Z,1628908675.784 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:37:55.784Z,1628908675.784 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:37:55.784Z,1628908675.784 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:37:55.785Z,1628908675.785 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:37:56.185Z,1628908676.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,00475,18A,80,80,3E,FF
2021-08-14T02:37:56.185Z,1628908676.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:37:56.185Z,1628908676.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:37:56.187Z,1628908676.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:37:56.589Z,1628908676.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:37:56.989Z,1628908676.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,00450,185,80,80,7E,FF
2021-08-14T02:37:56.990Z,1628908676.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:37:57.019Z,1628908677.019 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:37:57.453Z,1628908677.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023757.31*58

2021-08-14T02:37:57.527Z,1628908677.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.740002 m, bearing: 175.552937 deg, deltaT: 4.452111 s, approachRate: -0.498639 m/s, LOS rate: 2.322323 deg/s, posRepo size: 4
2021-08-14T02:37:59.490Z,1628908679.490 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:37:59.538Z,1628908679.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:37:59.818Z,1628908679.818 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:37:59.818Z,1628908679.818 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:37:59.818Z,1628908679.818 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:37:59.819Z,1628908679.819 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:38:00.218Z,1628908680.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,00450,185,80,80,7E,FF
2021-08-14T02:38:00.218Z,1628908680.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:38:00.218Z,1628908680.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:38:00.220Z,1628908680.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:38:00.620Z,1628908680.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:38:01.034Z,1628908681.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F68,000,0042B,187,80,80,91,FF
2021-08-14T02:38:01.034Z,1628908681.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:38:01.088Z,1628908681.088 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:38:01.453Z,1628908681.453 [Micromodem](INFO): Nmea in: $SNTTA,0.043964,,,,023801.34*43

2021-08-14T02:38:01.514Z,1628908681.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.519999 m, bearing: 172.586682 deg, deltaT: 4.069110 s, approachRate: -0.545575 m/s, LOS rate: -0.728969 deg/s, posRepo size: 4
2021-08-14T02:38:03.890Z,1628908683.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:38:04.257Z,1628908684.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:38:04.257Z,1628908684.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:38:04.257Z,1628908684.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:38:04.258Z,1628908684.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:38:04.660Z,1628908684.660 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F68,000,0042B,187,80,80,91,FF
2021-08-14T02:38:04.660Z,1628908684.660 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:38:04.660Z,1628908684.660 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:38:04.662Z,1628908684.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:38:05.074Z,1628908685.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:38:05.465Z,1628908685.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,00400,186,80,80,68,FF
2021-08-14T02:38:05.465Z,1628908685.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:38:05.517Z,1628908685.517 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:38:05.913Z,1628908685.913 [Micromodem](INFO): Nmea in: $SNTTA,0.046035,,,,023805.78*47

2021-08-14T02:38:05.939Z,1628908685.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 172.629876 deg, deltaT: 4.428999 s, approachRate: -0.582524 m/s, LOS rate: 0.009753 deg/s, posRepo size: 4
2021-08-14T02:38:08.330Z,1628908688.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:38:08.717Z,1628908688.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:38:08.717Z,1628908688.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:38:08.717Z,1628908688.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:38:08.718Z,1628908688.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:38:09.101Z,1628908689.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,00400,186,80,80,68,FF
2021-08-14T02:38:09.101Z,1628908689.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:38:09.101Z,1628908689.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:38:09.103Z,1628908689.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:38:09.509Z,1628908689.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:38:09.909Z,1628908689.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,003D5,187,80,80,76,FF
2021-08-14T02:38:09.909Z,1628908689.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:38:09.939Z,1628908689.939 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:38:10.349Z,1628908690.349 [Micromodem](INFO): Nmea in: $SNTTA,0.030674,,,,023810.22*4E

2021-08-14T02:38:10.398Z,1628908690.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 175.405870 deg, deltaT: 4.422087 s, approachRate: -0.583435 m/s, LOS rate: 0.627756 deg/s, posRepo size: 4
2021-08-14T02:38:12.815Z,1628908692.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:38:13.145Z,1628908693.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:38:13.145Z,1628908693.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:38:13.146Z,1628908693.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:38:13.147Z,1628908693.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:38:13.549Z,1628908693.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,003D5,187,80,80,76,FF
2021-08-14T02:38:13.549Z,1628908693.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:38:13.549Z,1628908693.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:38:13.551Z,1628908693.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:38:13.959Z,1628908693.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:38:14.354Z,1628908694.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,003A5,186,80,80,A5,FF
2021-08-14T02:38:14.354Z,1628908694.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:38:14.478Z,1628908694.478 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:38:14.798Z,1628908694.798 [Micromodem](INFO): Nmea in: $SNTTA,0.041708,,,,023814.67*47

2021-08-14T02:38:14.862Z,1628908694.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.479998 m, bearing: 177.268571 deg, deltaT: 4.538786 s, approachRate: -0.634531 m/s, LOS rate: 0.410397 deg/s, posRepo size: 4
2021-08-14T02:38:17.230Z,1628908697.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:38:17.621Z,1628908697.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:38:17.621Z,1628908697.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:38:17.621Z,1628908697.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:38:17.622Z,1628908697.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:38:18.025Z,1628908698.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,003A5,186,80,80,A5,FF
2021-08-14T02:38:18.026Z,1628908698.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:38:18.026Z,1628908698.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:38:18.027Z,1628908698.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:38:18.465Z,1628908698.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:38:18.829Z,1628908698.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,00377,186,80,80,A4,FF
2021-08-14T02:38:18.829Z,1628908698.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:38:18.891Z,1628908698.891 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:38:19.278Z,1628908699.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023819.15*5B

2021-08-14T02:38:19.318Z,1628908699.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 181.172257 deg, deltaT: 4.412749 s, approachRate: -0.625460 m/s, LOS rate: 0.884638 deg/s, posRepo size: 4
2021-08-14T02:38:21.726Z,1628908701.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:38:22.069Z,1628908702.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:38:22.069Z,1628908702.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:38:22.069Z,1628908702.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:38:22.070Z,1628908702.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:38:22.493Z,1628908702.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,00377,186,80,80,A4,FF
2021-08-14T02:38:22.493Z,1628908702.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:38:22.493Z,1628908702.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:38:22.495Z,1628908702.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:38:22.908Z,1628908702.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:38:23.290Z,1628908703.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,00349,187,80,80,93,FF
2021-08-14T02:38:23.290Z,1628908703.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:38:23.346Z,1628908703.346 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:38:23.754Z,1628908703.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.960001 m, bearing: 188.134241 deg, deltaT: 4.454830 s, approachRate: -0.619552 m/s, LOS rate: 1.562795 deg/s, posRepo size: 4
2021-08-14T02:38:24.576Z,1628908704.576 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-14T02:38:24.576Z,1628908704.576 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T02:38:24.576Z,1628908704.576 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T02:38:24.725Z,1628908704.725 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T02:38:24.996Z,1628908704.996 [RDI_Pathfinder](INFO): Powering down
2021-08-14T02:38:25.892Z,1628908705.892 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T02:38:25.892Z,1628908705.892 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T02:38:26.149Z,1628908706.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:38:26.521Z,1628908706.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:38:26.521Z,1628908706.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:38:26.521Z,1628908706.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:38:26.522Z,1628908706.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:38:26.925Z,1628908706.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,00349,187,80,80,93,FF
2021-08-14T02:38:26.925Z,1628908706.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:38:26.925Z,1628908706.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:38:26.927Z,1628908706.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:38:27.341Z,1628908707.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:38:27.765Z,1628908707.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDC,000,00323,188,80,80,AC,FF
2021-08-14T02:38:27.766Z,1628908707.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:38:27.819Z,1628908707.819 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:38:28.177Z,1628908708.177 [Micromodem](INFO): Nmea in: $SNTTA,0.146068,,,,023828.04*4A

2021-08-14T02:38:28.200Z,1628908708.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.680000 m, bearing: 191.517985 deg, deltaT: 4.473097 s, approachRate: -0.509714 m/s, LOS rate: 0.756466 deg/s, posRepo size: 4
2021-08-14T02:38:30.594Z,1628908710.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:38:30.965Z,1628908710.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:38:30.965Z,1628908710.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:38:30.965Z,1628908710.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:38:30.966Z,1628908710.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:38:31.369Z,1628908711.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDC,000,00323,188,80,80,AC,FF
2021-08-14T02:38:31.369Z,1628908711.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:38:31.369Z,1628908711.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:38:31.371Z,1628908711.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:38:31.785Z,1628908711.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:38:32.177Z,1628908712.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D26,000,002FE,189,80,80,B0,FF
2021-08-14T02:38:32.177Z,1628908712.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:38:32.224Z,1628908712.224 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:38:32.625Z,1628908712.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023832.49*5B

2021-08-14T02:38:32.647Z,1628908712.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 201.725020 deg, deltaT: 4.405455 s, approachRate: -0.503921 m/s, LOS rate: 2.316908 deg/s, posRepo size: 4
2021-08-14T02:38:35.037Z,1628908715.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:38:35.409Z,1628908715.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:38:35.409Z,1628908715.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:38:35.409Z,1628908715.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:38:35.410Z,1628908715.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:38:35.825Z,1628908715.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D26,000,002FE,189,80,80,B0,FF
2021-08-14T02:38:35.825Z,1628908715.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:38:35.825Z,1628908715.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:38:35.827Z,1628908715.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:38:36.231Z,1628908716.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:38:36.633Z,1628908716.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B08,000,002E9,189,80,80,91,FF
2021-08-14T02:38:36.634Z,1628908716.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:38:36.739Z,1628908716.739 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:38:37.062Z,1628908717.062 [Micromodem](INFO): Nmea in: $SNTTA,0.026164,,,,023836.95*47

2021-08-14T02:38:37.084Z,1628908717.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.199999 m, bearing: 229.311307 deg, deltaT: 4.535471 s, approachRate: -0.277810 m/s, LOS rate: 6.082342 deg/s, posRepo size: 4
2021-08-14T02:38:39.498Z,1628908719.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:38:39.861Z,1628908719.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:38:39.861Z,1628908719.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:38:39.861Z,1628908719.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:38:39.862Z,1628908719.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:38:40.261Z,1628908720.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B08,000,002E9,189,80,80,91,FF
2021-08-14T02:38:40.261Z,1628908720.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:38:40.261Z,1628908720.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:38:40.263Z,1628908720.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:38:40.717Z,1628908720.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:38:41.065Z,1628908721.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,002E2,189,80,80,62,FF
2021-08-14T02:38:41.065Z,1628908721.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:38:41.122Z,1628908721.122 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:38:41.505Z,1628908721.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023841.38*59

2021-08-14T02:38:41.527Z,1628908721.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.779999 m, bearing: 194.192605 deg, deltaT: 4.362168 s, approachRate: -0.096282 m/s, LOS rate: -8.050745 deg/s, posRepo size: 4
2021-08-14T02:38:43.961Z,1628908723.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:38:44.311Z,1628908724.311 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:38:44.311Z,1628908724.311 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:38:44.311Z,1628908724.311 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:38:44.312Z,1628908724.312 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:38:44.753Z,1628908724.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,002E2,189,80,80,62,FF
2021-08-14T02:38:44.753Z,1628908724.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:38:44.753Z,1628908724.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:38:44.755Z,1628908724.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:38:45.109Z,1628908725.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:38:45.525Z,1628908725.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,002F7,186,80,80,B5,FF
2021-08-14T02:38:45.526Z,1628908725.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:38:45.545Z,1628908725.545 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:38:45.944Z,1628908725.944 [Micromodem](INFO): Nmea in: $SNTTA,0.027937,,,,023845.88*40

2021-08-14T02:38:46.005Z,1628908726.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 179.954912 deg, deltaT: 4.423678 s, approachRate: 0.284831 m/s, LOS rate: -3.218519 deg/s, posRepo size: 4
2021-08-14T02:38:48.399Z,1628908728.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:38:48.773Z,1628908728.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:38:48.773Z,1628908728.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:38:48.773Z,1628908728.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:38:48.774Z,1628908728.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:38:49.145Z,1628908729.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,002F7,186,80,80,B5,FF
2021-08-14T02:38:49.145Z,1628908729.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:38:49.145Z,1628908729.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:38:49.147Z,1628908729.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:38:49.567Z,1628908729.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:38:49.953Z,1628908729.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,0031E,187,80,80,51,FF
2021-08-14T02:38:49.953Z,1628908729.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:38:50.007Z,1628908730.007 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:38:50.405Z,1628908730.405 [Micromodem](INFO): Nmea in: $SNTTA,0.006472,,,,023850.27*4E

2021-08-14T02:38:50.460Z,1628908730.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.380001 m, bearing: 181.644441 deg, deltaT: 4.466124 s, approachRate: 0.523944 m/s, LOS rate: 0.378299 deg/s, posRepo size: 4
2021-08-14T02:38:52.837Z,1628908732.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:38:53.185Z,1628908733.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:38:53.185Z,1628908733.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:38:53.185Z,1628908733.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:38:53.186Z,1628908733.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:38:53.589Z,1628908733.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,0031E,187,80,80,51,FF
2021-08-14T02:38:53.590Z,1628908733.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:38:53.590Z,1628908733.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:38:53.593Z,1628908733.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:38:54.002Z,1628908734.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:38:54.399Z,1628908734.399 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E65,000,00340,186,80,80,9A,FF
2021-08-14T02:38:54.399Z,1628908734.399 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:38:54.555Z,1628908734.555 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:38:54.845Z,1628908734.845 [Micromodem](INFO): Nmea in: $SNTTA,0.056213,,,,023854.71*4D

2021-08-14T02:38:54.899Z,1628908734.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.419999 m, bearing: 186.398690 deg, deltaT: 4.543076 s, approachRate: 0.449035 m/s, LOS rate: 1.046482 deg/s, posRepo size: 4
2021-08-14T02:38:57.255Z,1628908737.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:38:57.629Z,1628908737.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:38:57.629Z,1628908737.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:38:57.629Z,1628908737.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:38:57.630Z,1628908737.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:38:58.043Z,1628908738.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E65,000,00340,186,80,80,9A,FF
2021-08-14T02:38:58.043Z,1628908738.043 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:38:58.043Z,1628908738.043 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:38:58.045Z,1628908738.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:38:58.458Z,1628908738.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:38:58.841Z,1628908738.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,0037A,186,80,80,83,FF
2021-08-14T02:38:58.841Z,1628908738.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:38:58.915Z,1628908738.915 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:38:59.287Z,1628908739.287 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023859.17*5D

2021-08-14T02:38:59.343Z,1628908739.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.899998 m, bearing: 181.261814 deg, deltaT: 4.360241 s, approachRate: 0.798121 m/s, LOS rate: -1.178117 deg/s, posRepo size: 4
2021-08-14T02:39:01.795Z,1628908741.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:02.077Z,1628908742.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:39:02.077Z,1628908742.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:39:02.077Z,1628908742.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:39:02.078Z,1628908742.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:39:02.481Z,1628908742.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBC,000,0037A,186,80,80,83,FF
2021-08-14T02:39:02.481Z,1628908742.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:39:02.481Z,1628908742.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:39:02.483Z,1628908742.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:39:02.889Z,1628908742.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:39:03.286Z,1628908743.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,00399,186,80,80,82,FF
2021-08-14T02:39:03.286Z,1628908743.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:39:03.316Z,1628908743.316 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:39:03.761Z,1628908743.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023903.60*53

2021-08-14T02:39:03.812Z,1628908743.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 176.205575 deg, deltaT: 4.401116 s, approachRate: 0.422620 m/s, LOS rate: -1.148854 deg/s, posRepo size: 4
2021-08-14T02:39:05.819Z,1628908745.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:06.113Z,1628908746.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:39:06.113Z,1628908746.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:39:06.113Z,1628908746.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:39:06.114Z,1628908746.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:39:06.521Z,1628908746.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,00399,186,80,80,82,FF
2021-08-14T02:39:06.521Z,1628908746.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:39:06.521Z,1628908746.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:39:06.523Z,1628908746.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:39:06.933Z,1628908746.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:39:07.333Z,1628908747.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,003C2,187,80,80,60,FF
2021-08-14T02:39:07.334Z,1628908747.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:39:07.381Z,1628908747.381 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:39:07.781Z,1628908747.781 [Micromodem](INFO): Nmea in: $SNTTA,0.317480,,,,023907.64*44

2021-08-14T02:39:07.827Z,1628908747.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 169.466733 deg, deltaT: 4.065262 s, approachRate: 0.605127 m/s, LOS rate: -1.657665 deg/s, posRepo size: 4
2021-08-14T02:39:10.242Z,1628908750.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:10.557Z,1628908750.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:39:10.557Z,1628908750.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:39:10.557Z,1628908750.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:39:10.558Z,1628908750.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:39:10.961Z,1628908750.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,003C2,187,80,80,60,FF
2021-08-14T02:39:10.961Z,1628908750.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:39:10.962Z,1628908750.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:39:10.963Z,1628908750.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:39:11.378Z,1628908751.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:39:12.223Z,1628908752.223 [Micromodem](INFO): Nmea in: $SNTTA,0.048307,,,,023912.08*4B

2021-08-14T02:39:13.015Z,1628908753.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:13.386Z,1628908753.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,0568F,186,80,80,68,FF
2021-08-14T02:39:13.386Z,1628908753.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:39:13.434Z,1628908753.434 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:39:13.837Z,1628908753.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1292.040039 m, bearing: 156.522077 deg, deltaT: 6.052566 s, approachRate: 210.129074 m/s, LOS rate: -2.138706 deg/s, posRepo size: 4
2021-08-14T02:39:13.837Z,1628908753.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1292.04 m. Resuming terminal guidance.
2021-08-14T02:39:13.837Z,1628908753.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T02:39:14.310Z,1628908754.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:39:14.311Z,1628908754.311 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:39:14.311Z,1628908754.311 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:39:14.318Z,1628908754.318 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:39:14.318Z,1628908754.318 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:39:14.318Z,1628908754.318 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:39:14.633Z,1628908754.633 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:39:14.633Z,1628908754.633 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:39:14.633Z,1628908754.633 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:39:14.634Z,1628908754.634 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:39:16.322Z,1628908756.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:16.625Z,1628908756.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:39:16.625Z,1628908756.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:39:16.625Z,1628908756.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:39:16.626Z,1628908756.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:39:17.021Z,1628908757.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,0568F,186,80,80,68,FF
2021-08-14T02:39:17.021Z,1628908757.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:39:17.022Z,1628908757.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:39:17.023Z,1628908757.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:39:17.437Z,1628908757.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:39:17.841Z,1628908757.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,0042A,186,80,80,97,FF
2021-08-14T02:39:17.841Z,1628908757.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:39:18.270Z,1628908758.270 [Micromodem](INFO): Nmea in: $SNTTA,0.475792,0.476911,,,023918.14*5C

2021-08-14T02:39:18.333Z,1628908758.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 142.345445 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T02:39:18.333Z,1628908758.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 26.46 m.
2021-08-14T02:39:18.334Z,1628908758.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 142.345445deg and heading rate command to 0 deg/s.
2021-08-14T02:39:18.695Z,1628908758.695 [PowerOnly](INFO): Powering up loadControl
2021-08-14T02:39:18.747Z,1628908758.747 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:39:18.747Z,1628908758.747 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:39:18.747Z,1628908758.747 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:39:18.747Z,1628908758.747 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:39:18.747Z,1628908758.747 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:39:18.748Z,1628908758.748 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:39:19.110Z,1628908759.110 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:39:19.110Z,1628908759.110 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:39:19.110Z,1628908759.110 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:39:19.110Z,1628908759.110 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:39:20.730Z,1628908760.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:21.061Z,1628908761.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:39:21.061Z,1628908761.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:39:21.061Z,1628908761.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:39:21.062Z,1628908761.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:39:21.465Z,1628908761.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,0042A,186,80,80,97,FF
2021-08-14T02:39:21.465Z,1628908761.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:39:21.465Z,1628908761.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:39:21.467Z,1628908761.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:39:21.873Z,1628908761.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:39:22.725Z,1628908762.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023922.58*5B

2021-08-14T02:39:23.512Z,1628908763.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:25.109Z,1628908765.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:25.109Z,1628908765.109 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:25.109Z,1628908765.109 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:39:26.373Z,1628908766.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:26.730Z,1628908766.730 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:39:26.730Z,1628908766.730 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:39:26.731Z,1628908766.731 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:39:26.732Z,1628908766.732 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:39:27.121Z,1628908767.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:27.121Z,1628908767.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:39:27.121Z,1628908767.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:39:27.123Z,1628908767.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:39:27.539Z,1628908767.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:39:28.355Z,1628908768.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023928.24*5A

2021-08-14T02:39:29.171Z,1628908769.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:30.773Z,1628908770.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:30.774Z,1628908770.774 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:30.774Z,1628908770.774 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:39:32.004Z,1628908772.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:32.369Z,1628908772.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:39:32.370Z,1628908772.370 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:39:32.370Z,1628908772.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:39:32.371Z,1628908772.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:39:32.778Z,1628908772.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:32.778Z,1628908772.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:39:32.778Z,1628908772.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:39:32.779Z,1628908772.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:39:33.189Z,1628908773.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:39:34.019Z,1628908774.019 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023933.90*5F

2021-08-14T02:39:34.846Z,1628908774.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:36.424Z,1628908776.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:36.425Z,1628908776.425 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:36.425Z,1628908776.425 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:39:37.768Z,1628908777.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:38.025Z,1628908778.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:39:38.025Z,1628908778.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:39:38.025Z,1628908778.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:39:38.026Z,1628908778.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:39:38.445Z,1628908778.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:38.445Z,1628908778.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:39:38.445Z,1628908778.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:39:38.447Z,1628908778.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:39:38.849Z,1628908778.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:39:39.681Z,1628908779.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023939.56*5F

2021-08-14T02:39:40.510Z,1628908780.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:42.073Z,1628908782.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:42.073Z,1628908782.073 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:42.073Z,1628908782.073 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:39:43.337Z,1628908783.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:43.692Z,1628908783.692 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:39:43.692Z,1628908783.692 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:39:43.693Z,1628908783.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:39:43.694Z,1628908783.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:39:44.101Z,1628908784.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:44.101Z,1628908784.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:39:44.101Z,1628908784.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:39:44.103Z,1628908784.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:39:44.568Z,1628908784.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:39:45.355Z,1628908785.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023945.22*57

2021-08-14T02:39:46.243Z,1628908786.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:47.400Z,1628908787.400 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:47.401Z,1628908787.401 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:47.401Z,1628908787.401 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:39:49.052Z,1628908789.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:49.393Z,1628908789.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:39:49.393Z,1628908789.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:39:49.393Z,1628908789.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:39:49.394Z,1628908789.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:39:49.805Z,1628908789.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,97,FF
2021-08-14T02:39:49.805Z,1628908789.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:39:49.806Z,1628908789.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:39:49.807Z,1628908789.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:39:50.245Z,1628908790.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:39:50.609Z,1628908790.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,0087A,184,80,80,43,FF
2021-08-14T02:39:50.609Z,1628908790.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:39:50.629Z,1628908790.629 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:39:51.129Z,1628908791.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023950.93*59

2021-08-14T02:39:51.175Z,1628908791.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.700005 m, bearing: 141.530604 deg, deltaT: 32.724478 s, approachRate: 2.024173 m/s, LOS rate: -0.024900 deg/s, posRepo size: 2
2021-08-14T02:39:51.181Z,1628908791.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.700005 m,
      bearing: 141.530604 deg,
      approachRate: 2.024173 m/s,
      LOS rate: -0.024900 deg/s,
      cmd update: -0.074700 deg/s,
      cmd heading: 142.345445 deg,
      new cmd heading: 142.345445 deg.

2021-08-14T02:39:51.449Z,1628908791.449 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:39:51.449Z,1628908791.449 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:39:51.450Z,1628908791.450 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:39:51.450Z,1628908791.450 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:39:51.450Z,1628908791.450 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:39:51.450Z,1628908791.450 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:39:51.859Z,1628908791.859 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:39:51.860Z,1628908791.860 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:39:51.861Z,1628908791.861 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:39:51.861Z,1628908791.861 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:39:53.447Z,1628908793.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:53.849Z,1628908793.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:39:53.849Z,1628908793.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:39:53.849Z,1628908793.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:39:53.850Z,1628908793.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:39:54.261Z,1628908794.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,0087A,184,80,80,43,FF
2021-08-14T02:39:54.261Z,1628908794.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:39:54.261Z,1628908794.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:39:54.263Z,1628908794.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:39:54.653Z,1628908794.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:39:55.048Z,1628908795.048 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00C25,184,80,80,43,FF
2021-08-14T02:39:55.049Z,1628908795.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:39:55.481Z,1628908795.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023955.38*5D

2021-08-14T02:39:55.528Z,1628908795.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.040009 m, bearing: 143.675283 deg, deltaT: 4.471941 s, approachRate: 12.598557 m/s, LOS rate: 0.479586 deg/s, posRepo size: 3
2021-08-14T02:39:55.530Z,1628908795.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.040009 m,
      bearing: 143.675283 deg,
      approachRate: 12.598557 m/s,
      LOS rate: 0.479586 deg/s,
      cmd update: 1.438757 deg/s,
      cmd heading: 142.012624 deg,
      new cmd heading: 141.979582 deg.

2021-08-14T02:39:57.940Z,1628908797.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:39:58.285Z,1628908798.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:39:58.285Z,1628908798.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:39:58.285Z,1628908798.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:39:58.286Z,1628908798.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:39:58.681Z,1628908798.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00C25,184,80,80,43,FF
2021-08-14T02:39:58.681Z,1628908798.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:39:58.682Z,1628908798.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:39:58.705Z,1628908798.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:39:59.089Z,1628908799.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:39:59.895Z,1628908799.895 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,01BB7,183,80,80,42,FF
2021-08-14T02:39:59.896Z,1628908799.896 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:39:59.929Z,1628908799.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023959.82*50

2021-08-14T02:40:00.395Z,1628908800.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 388.200012 m, bearing: 146.543785 deg, deltaT: 4.884434 s, approachRate: 48.963707 m/s, LOS rate: 0.587274 deg/s, posRepo size: 4
2021-08-14T02:40:00.401Z,1628908800.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 388.200012 m,
      bearing: 146.543785 deg,
      approachRate: 48.963707 m/s,
      LOS rate: 0.587274 deg/s,
      cmd update: 1.761823 deg/s,
      cmd heading: 149.050199 deg,
      new cmd heading: 149.618900 deg.

2021-08-14T02:40:02.828Z,1628908802.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:40:03.117Z,1628908803.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:40:03.117Z,1628908803.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:40:03.117Z,1628908803.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:40:03.118Z,1628908803.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:40:03.534Z,1628908803.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,01BB7,183,80,80,42,FF
2021-08-14T02:40:03.534Z,1628908803.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:40:03.534Z,1628908803.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:40:03.536Z,1628908803.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:40:03.933Z,1628908803.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:40:04.349Z,1628908804.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,0060A,187,80,80,9D,FF
2021-08-14T02:40:04.350Z,1628908804.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:40:04.789Z,1628908804.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024004.65*5F

2021-08-14T02:40:04.832Z,1628908804.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.259998 m, bearing: 166.445153 deg, deltaT: 4.481878 s, approachRate: -74.285828 m/s, LOS rate: 4.440408 deg/s, posRepo size: 4
2021-08-14T02:40:04.834Z,1628908804.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.259998 m,
      bearing: 166.445153 deg,
      approachRate: -74.285828 m/s,
      LOS rate: 4.440408 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 156.949373 deg,
      new cmd heading: 157.611207 deg.

2021-08-14T02:40:07.179Z,1628908807.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:40:07.565Z,1628908807.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:40:07.565Z,1628908807.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:40:07.565Z,1628908807.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:40:07.566Z,1628908807.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:40:07.973Z,1628908807.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,0060A,187,80,80,9D,FF
2021-08-14T02:40:07.973Z,1628908807.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:40:07.973Z,1628908807.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:40:07.975Z,1628908807.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:40:08.377Z,1628908808.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:40:08.786Z,1628908808.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,0063C,186,80,80,5E,FF
2021-08-14T02:40:08.786Z,1628908808.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:40:09.217Z,1628908809.217 [Micromodem](INFO): Nmea in: $SNTTA,0.144743,,,,024009.10*4F

2021-08-14T02:40:09.263Z,1628908809.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 152.634634 deg, deltaT: 4.376942 s, approachRate: 0.685412 m/s, LOS rate: -3.155290 deg/s, posRepo size: 4
2021-08-14T02:40:09.269Z,1628908809.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.260006 m,
      bearing: 152.634634 deg,
      approachRate: 0.685412 m/s,
      LOS rate: -3.155290 deg/s,
      cmd update: -9.465869 deg/s,
      cmd heading: 209.465478 deg,
      new cmd heading: 214.617078 deg.

2021-08-14T02:40:11.623Z,1628908811.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:40:12.017Z,1628908812.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:40:12.018Z,1628908812.018 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:40:12.018Z,1628908812.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:40:12.019Z,1628908812.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:40:12.425Z,1628908812.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,0063C,186,80,80,5E,FF
2021-08-14T02:40:12.425Z,1628908812.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:40:12.425Z,1628908812.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:40:12.427Z,1628908812.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:40:12.833Z,1628908812.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:40:13.225Z,1628908813.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,00662,186,80,80,69,FF
2021-08-14T02:40:13.225Z,1628908813.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:40:13.680Z,1628908813.680 [Micromodem](INFO): Nmea in: $SNTTA,0.062153,,,,024013.55*47

2021-08-14T02:40:13.743Z,1628908813.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.540005 m, bearing: 201.129318 deg, deltaT: 4.433681 s, approachRate: 0.514245 m/s, LOS rate: 10.937793 deg/s, posRepo size: 4
2021-08-14T02:40:13.745Z,1628908813.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.540005 m,
      bearing: 201.129318 deg,
      approachRate: 0.514245 m/s,
      LOS rate: 10.937793 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 167.461301 deg,
      new cmd heading: 162.989028 deg.

2021-08-14T02:40:16.093Z,1628908816.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:40:16.453Z,1628908816.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:40:16.453Z,1628908816.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:40:16.453Z,1628908816.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:40:16.454Z,1628908816.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:40:16.857Z,1628908816.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,00662,186,80,80,69,FF
2021-08-14T02:40:16.857Z,1628908816.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:40:16.857Z,1628908816.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:40:16.859Z,1628908816.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:40:17.271Z,1628908817.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:40:17.665Z,1628908817.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8A,000,00689,18A,80,80,7E,FF
2021-08-14T02:40:17.665Z,1628908817.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:40:18.125Z,1628908818.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024017.98*5F

2021-08-14T02:40:18.242Z,1628908818.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.879997 m, bearing: 224.597384 deg, deltaT: 4.470151 s, approachRate: 0.523471 m/s, LOS rate: 5.249949 deg/s, posRepo size: 4
2021-08-14T02:40:18.249Z,1628908818.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.879997 m,
      bearing: 224.597384 deg,
      approachRate: 0.523471 m/s,
      LOS rate: 5.249949 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 221.028439 deg,
      new cmd heading: 227.120275 deg.

2021-08-14T02:40:20.551Z,1628908820.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:40:20.902Z,1628908820.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:40:20.903Z,1628908820.903 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:40:20.903Z,1628908820.903 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:40:20.905Z,1628908820.905 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:40:21.302Z,1628908821.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8A,000,00689,18A,80,80,7E,FF
2021-08-14T02:40:21.302Z,1628908821.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:40:21.302Z,1628908821.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:40:21.306Z,1628908821.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:40:21.721Z,1628908821.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:40:22.117Z,1628908822.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,006AF,186,80,80,63,FF
2021-08-14T02:40:22.118Z,1628908822.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:40:22.549Z,1628908822.549 [Micromodem](INFO): Nmea in: $SNTTA,0.059130,,,,024022.43*4F

2021-08-14T02:40:22.603Z,1628908822.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.159996 m, bearing: 204.031397 deg, deltaT: 4.452854 s, approachRate: 0.512031 m/s, LOS rate: -4.618608 deg/s, posRepo size: 4
2021-08-14T02:40:22.606Z,1628908822.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.159996 m,
      bearing: 204.031397 deg,
      approachRate: 0.512031 m/s,
      LOS rate: -4.618608 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 274.021232 deg,
      new cmd heading: 279.455900 deg.

2021-08-14T02:40:24.985Z,1628908824.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:40:25.353Z,1628908825.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:40:25.354Z,1628908825.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:40:25.354Z,1628908825.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:40:25.355Z,1628908825.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:40:25.757Z,1628908825.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,006AF,186,80,80,63,FF
2021-08-14T02:40:25.757Z,1628908825.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:40:25.757Z,1628908825.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:40:25.759Z,1628908825.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:40:26.193Z,1628908826.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:40:26.553Z,1628908826.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,005E2,186,80,80,91,FF
2021-08-14T02:40:26.554Z,1628908826.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:40:26.996Z,1628908826.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.860004 m, bearing: 222.080199 deg, deltaT: 4.436547 s, approachRate: -2.772424 m/s, LOS rate: 4.068209 deg/s, posRepo size: 4
2021-08-14T02:40:26.998Z,1628908826.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.860004 m,
      bearing: 222.080199 deg,
      approachRate: -2.772424 m/s,
      LOS rate: 4.068209 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 220.206259 deg,
      new cmd heading: 215.871187 deg.

2021-08-14T02:40:29.408Z,1628908829.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:40:29.800Z,1628908829.800 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:40:29.800Z,1628908829.800 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:40:29.800Z,1628908829.800 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:40:29.801Z,1628908829.801 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:40:30.225Z,1628908830.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,005E2,186,80,80,91,FF
2021-08-14T02:40:30.225Z,1628908830.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:40:30.225Z,1628908830.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:40:30.227Z,1628908830.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:40:30.647Z,1628908830.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:40:31.013Z,1628908831.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,006DF,186,80,80,96,FF
2021-08-14T02:40:31.013Z,1628908831.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:40:31.446Z,1628908831.446 [Micromodem](INFO): Nmea in: $SNTTA,0.058109,,,,024031.35*47

2021-08-14T02:40:31.467Z,1628908831.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.040001 m, bearing: 244.414003 deg, deltaT: 4.434026 s, approachRate: 3.423524 m/s, LOS rate: 5.036913 deg/s, posRepo size: 4
2021-08-14T02:40:31.469Z,1628908831.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.040001 m,
      bearing: 244.414003 deg,
      approachRate: 3.423524 m/s,
      LOS rate: 5.036913 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 273.411849 deg,
      new cmd heading: 278.193609 deg.

2021-08-14T02:40:33.892Z,1628908833.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:40:34.261Z,1628908834.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:40:34.261Z,1628908834.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:40:34.261Z,1628908834.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:40:34.262Z,1628908834.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:40:34.649Z,1628908834.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,006DF,186,80,80,96,FF
2021-08-14T02:40:34.649Z,1628908834.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:40:34.649Z,1628908834.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:40:34.651Z,1628908834.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:40:35.052Z,1628908835.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:40:35.454Z,1628908835.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD8,000,006E4,188,80,80,A3,FF
2021-08-14T02:40:35.454Z,1628908835.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:40:35.897Z,1628908835.897 [Micromodem](INFO): Nmea in: $SNTTA,0.092543,,,,024035.77*49

2021-08-14T02:40:35.937Z,1628908835.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.340004 m, bearing: 270.827464 deg, deltaT: 4.407047 s, approachRate: 0.068073 m/s, LOS rate: 5.993460 deg/s, posRepo size: 4
2021-08-14T02:40:35.939Z,1628908835.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.340004 m,
      bearing: 270.827464 deg,
      approachRate: 0.068073 m/s,
      LOS rate: 5.993460 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 326.299282 deg,
      new cmd heading: 331.827731 deg.

2021-08-14T02:40:36.053Z,1628908836.053 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-14T02:40:36.111Z,1628908836.111 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T02:40:37.114Z,1628908837.114 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T02:40:38.118Z,1628908838.118 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T02:40:38.369Z,1628908838.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:40:38.692Z,1628908838.692 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:40:38.693Z,1628908838.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:40:38.693Z,1628908838.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:40:38.695Z,1628908838.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:40:39.097Z,1628908839.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD8,000,006E4,188,80,80,A3,FF
2021-08-14T02:40:39.097Z,1628908839.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:40:39.097Z,1628908839.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:40:39.099Z,1628908839.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:40:39.134Z,1628908839.134 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T02:40:39.496Z,1628908839.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:40:39.905Z,1628908839.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C42,000,006E2,189,80,80,77,FF
2021-08-14T02:40:39.905Z,1628908839.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:40:40.131Z,1628908840.131 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T02:40:40.333Z,1628908840.333 [Micromodem](INFO): Nmea in: $SNTTA,0.093245,,,,024040.22*4B

2021-08-14T02:40:40.389Z,1628908840.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.219994 m, bearing: 309.783011 deg, deltaT: 4.485008 s, approachRate: -0.026758 m/s, LOS rate: 8.685725 deg/s, posRepo size: 4
2021-08-14T02:40:40.391Z,1628908840.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.219994 m,
      bearing: 309.783011 deg,
      approachRate: -0.026758 m/s,
      LOS rate: 8.685725 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 20.068656 deg,
      new cmd heading: 25.249068 deg.

2021-08-14T02:40:41.134Z,1628908841.134 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T02:40:42.138Z,1628908842.138 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T02:40:42.796Z,1628908842.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:40:43.139Z,1628908843.139 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:40:43.139Z,1628908843.139 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:40:43.144Z,1628908843.144 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T02:40:43.146Z,1628908843.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:40:43.147Z,1628908843.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:40:43.539Z,1628908843.539 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C42,000,006E2,189,80,80,77,FF
2021-08-14T02:40:43.540Z,1628908843.540 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:40:43.541Z,1628908843.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:40:43.568Z,1628908843.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:40:43.949Z,1628908843.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:40:44.155Z,1628908844.155 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T02:40:44.353Z,1628908844.353 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,006CC,18A,80,80,A7,FF
2021-08-14T02:40:44.354Z,1628908844.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:40:44.785Z,1628908844.785 [Micromodem](INFO): Nmea in: $SNTTA,0.069944,,,,024044.69*4F

2021-08-14T02:40:44.811Z,1628908844.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.900002 m, bearing: 344.429638 deg, deltaT: 4.429317 s, approachRate: -0.298013 m/s, LOS rate: 7.822114 deg/s, posRepo size: 4
2021-08-14T02:40:44.830Z,1628908844.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.900002 m,
      bearing: 344.429638 deg,
      approachRate: -0.298013 m/s,
      LOS rate: 7.822114 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 73.271282 deg,
      new cmd heading: 78.322910 deg.

2021-08-14T02:40:45.150Z,1628908845.150 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T02:40:46.159Z,1628908846.159 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T02:40:46.943Z,1628908846.943 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006171
CHAN A1 (24V): -0.023703
CHAN A2 (12V): -0.005661
CHAN A3 (5V): -0.001404
CHAN B0 (3.3V): 0.000558
CHAN B1 (3.15aV): 0.000134
CHAN B2 (3.15bV): 0.000393
CHAN B3 (GND): 0.001789
OPEN: 0.006628
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-14T02:40:47.215Z,1628908847.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:40:47.577Z,1628908847.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:40:47.577Z,1628908847.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:40:47.577Z,1628908847.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:40:47.578Z,1628908847.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:40:47.981Z,1628908847.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,006CC,18A,80,80,A7,FF
2021-08-14T02:40:47.981Z,1628908847.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:40:47.981Z,1628908847.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:40:47.983Z,1628908847.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:40:48.388Z,1628908848.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:40:48.785Z,1628908848.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D03,000,006AB,188,80,80,B7,FF
2021-08-14T02:40:48.785Z,1628908848.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:40:49.240Z,1628908849.240 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024049.10*54

2021-08-14T02:40:49.260Z,1628908849.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.919998 m, bearing: 338.128570 deg, deltaT: 4.422078 s, approachRate: -0.447754 m/s, LOS rate: -1.424911 deg/s, posRepo size: 4
2021-08-14T02:40:49.262Z,1628908849.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.919998 m,
      bearing: 338.128570 deg,
      approachRate: -0.447754 m/s,
      LOS rate: -1.424911 deg/s,
      cmd update: -4.274733 deg/s,
      cmd heading: 126.335547 deg,
      new cmd heading: 131.702847 deg.

2021-08-14T02:40:51.643Z,1628908851.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:40:52.017Z,1628908852.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:40:52.017Z,1628908852.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:40:52.017Z,1628908852.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:40:52.018Z,1628908852.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:40:52.429Z,1628908852.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D03,000,006AB,188,80,80,B7,FF
2021-08-14T02:40:52.429Z,1628908852.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:40:52.429Z,1628908852.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:40:52.431Z,1628908852.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:40:52.828Z,1628908852.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:40:53.257Z,1628908853.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,00686,18A,80,80,AD,FF
2021-08-14T02:40:53.257Z,1628908853.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:40:53.692Z,1628908853.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024053.55*5E

2021-08-14T02:40:53.742Z,1628908853.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.700001 m, bearing: 349.799969 deg, deltaT: 4.463137 s, approachRate: -0.497407 m/s, LOS rate: 2.615066 deg/s, posRepo size: 4
2021-08-14T02:40:53.746Z,1628908853.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.700001 m,
      bearing: 349.799969 deg,
      approachRate: -0.497407 m/s,
      LOS rate: 2.615066 deg/s,
      cmd update: 7.845200 deg/s,
      cmd heading: 107.263590 deg,
      new cmd heading: 105.260881 deg.

2021-08-14T02:40:56.089Z,1628908856.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:40:56.477Z,1628908856.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:40:56.477Z,1628908856.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:40:56.478Z,1628908856.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:40:56.479Z,1628908856.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:40:56.869Z,1628908856.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,00686,18A,80,80,AD,FF
2021-08-14T02:40:56.869Z,1628908856.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:40:56.869Z,1628908856.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:40:56.871Z,1628908856.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:40:57.300Z,1628908857.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:40:57.677Z,1628908857.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,00657,187,80,80,92,FF
2021-08-14T02:40:57.678Z,1628908857.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:40:58.123Z,1628908858.123 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024057.99*5A

2021-08-14T02:40:58.230Z,1628908858.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.880005 m, bearing: 343.505376 deg, deltaT: 4.467904 s, approachRate: -0.631168 m/s, LOS rate: -1.408847 deg/s, posRepo size: 4
2021-08-14T02:40:58.236Z,1628908858.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.880005 m,
      bearing: 343.505376 deg,
      approachRate: -0.631168 m/s,
      LOS rate: -1.408847 deg/s,
      cmd update: -4.226541 deg/s,
      cmd heading: 142.296580 deg,
      new cmd heading: 146.142132 deg.

2021-08-14T02:41:00.562Z,1628908860.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:00.909Z,1628908860.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:41:00.909Z,1628908860.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:41:00.909Z,1628908860.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:41:00.910Z,1628908860.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:41:01.325Z,1628908861.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,00657,187,80,80,92,FF
2021-08-14T02:41:01.325Z,1628908861.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:41:01.325Z,1628908861.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:41:01.327Z,1628908861.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:41:01.752Z,1628908861.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:41:02.133Z,1628908862.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,102,000,00626,185,80,80,B6,FF
2021-08-14T02:41:02.134Z,1628908862.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:41:02.553Z,1628908862.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024102.45*5A

2021-08-14T02:41:02.617Z,1628908862.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.939999 m, bearing: 339.849258 deg, deltaT: 4.492109 s, approachRate: -0.654482 m/s, LOS rate: -0.813898 deg/s, posRepo size: 4
2021-08-14T02:41:02.619Z,1628908862.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.939999 m,
      bearing: 339.849258 deg,
      approachRate: -0.654482 m/s,
      LOS rate: -0.813898 deg/s,
      cmd update: -2.441694 deg/s,
      cmd heading: 123.332407 deg,
      new cmd heading: 121.699496 deg.

2021-08-14T02:41:05.001Z,1628908865.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:05.370Z,1628908865.370 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:41:05.370Z,1628908865.370 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:41:05.370Z,1628908865.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:41:05.371Z,1628908865.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:41:05.765Z,1628908865.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
102,000,00626,185,80,80,B6,FF
2021-08-14T02:41:05.765Z,1628908865.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:41:05.765Z,1628908865.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:41:05.767Z,1628908865.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:41:06.205Z,1628908866.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:41:06.565Z,1628908866.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,305,000,00603,189,80,80,89,FF
2021-08-14T02:41:06.566Z,1628908866.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:41:07.013Z,1628908867.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024106.89*5E

2021-08-14T02:41:07.061Z,1628908867.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.840000 m, bearing: 331.901295 deg, deltaT: 4.419740 s, approachRate: -0.475141 m/s, LOS rate: -1.798287 deg/s, posRepo size: 4
2021-08-14T02:41:07.063Z,1628908867.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.840000 m,
      bearing: 331.901295 deg,
      approachRate: -0.475141 m/s,
      LOS rate: -1.798287 deg/s,
      cmd update: -5.394862 deg/s,
      cmd heading: 112.542162 deg,
      new cmd heading: 111.528937 deg.

2021-08-14T02:41:09.443Z,1628908869.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:09.793Z,1628908869.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:41:09.793Z,1628908869.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:41:09.793Z,1628908869.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:41:09.794Z,1628908869.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:41:10.257Z,1628908870.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
305,000,00603,189,80,80,89,FF
2021-08-14T02:41:10.257Z,1628908870.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:41:10.257Z,1628908870.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:41:10.259Z,1628908870.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:41:10.641Z,1628908870.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:41:11.019Z,1628908871.019 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4B3,000,005D7,189,80,80,87,FF
2021-08-14T02:41:11.020Z,1628908871.020 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:41:11.470Z,1628908871.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.200001 m, bearing: 326.417363 deg, deltaT: 4.422340 s, approachRate: -0.596969 m/s, LOS rate: -1.240052 deg/s, posRepo size: 4
2021-08-14T02:41:11.472Z,1628908871.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.200001 m,
      bearing: 326.417363 deg,
      approachRate: -0.596969 m/s,
      LOS rate: -1.240052 deg/s,
      cmd update: -3.720156 deg/s,
      cmd heading: 88.726984 deg,
      new cmd heading: 86.516040 deg.

2021-08-14T02:41:11.838Z,1628908871.838 [Micromodem](INFO): Nmea in: $SNTTA,0.045235,,,,024111.38*49

2021-08-14T02:41:13.873Z,1628908873.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:14.254Z,1628908874.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:41:14.254Z,1628908874.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:41:14.255Z,1628908874.255 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:41:14.256Z,1628908874.256 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:41:14.645Z,1628908874.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4B3,000,005D7,189,80,80,87,FF
2021-08-14T02:41:14.645Z,1628908874.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:41:14.645Z,1628908874.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:41:14.647Z,1628908874.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:41:15.057Z,1628908875.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:41:15.453Z,1628908875.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D47,000,005B8,189,80,80,A0,FF
2021-08-14T02:41:15.453Z,1628908875.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:41:15.904Z,1628908875.904 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024115.77*5D

2021-08-14T02:41:15.959Z,1628908875.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.340000 m, bearing: 80.687518 deg, deltaT: 4.426300 s, approachRate: -0.420216 m/s, LOS rate: 25.816177 deg/s, posRepo size: 4
2021-08-14T02:41:15.959Z,1628908875.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 25.816177 deg/s. Setting heading cmd to target bearing of 80.687518deg and heading rate command to 0 deg/s.
2021-08-14T02:41:18.375Z,1628908878.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:18.684Z,1628908878.684 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:41:18.684Z,1628908878.684 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:41:18.685Z,1628908878.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:41:18.687Z,1628908878.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:41:19.089Z,1628908879.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D47,000,005B8,189,80,80,A0,FF
2021-08-14T02:41:19.089Z,1628908879.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:41:19.089Z,1628908879.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:41:19.091Z,1628908879.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:41:19.502Z,1628908879.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:41:20.326Z,1628908880.326 [Micromodem](INFO): Nmea in: $SNTTA,,0.441562,,,024120.21*46

2021-08-14T02:41:21.140Z,1628908881.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:22.761Z,1628908882.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,A0,FF
2021-08-14T02:41:22.761Z,1628908882.761 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,A0,FF
2021-08-14T02:41:22.761Z,1628908882.761 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:41:23.970Z,1628908883.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:24.349Z,1628908884.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:41:24.349Z,1628908884.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:41:24.349Z,1628908884.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:41:24.350Z,1628908884.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:41:24.765Z,1628908884.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,A0,FF
2021-08-14T02:41:24.765Z,1628908884.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:41:24.765Z,1628908884.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:41:24.767Z,1628908884.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:41:25.148Z,1628908885.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:41:25.553Z,1628908885.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,312,000,005C2,189,80,80,8C,FF
2021-08-14T02:41:25.553Z,1628908885.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:41:25.977Z,1628908885.977 [Micromodem](INFO): Nmea in: $SNTTA,0.072227,,,,024125.89*43

2021-08-14T02:41:26.003Z,1628908886.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.939999 m, bearing: 47.682179 deg, deltaT: 10.066377 s, approachRate: 0.059604 m/s, LOS rate: -3.278770 deg/s, posRepo size: 4
2021-08-14T02:41:26.005Z,1628908886.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.939999 m,
      bearing: 47.682179 deg,
      approachRate: 0.059604 m/s,
      LOS rate: -3.278770 deg/s,
      cmd update: -9.836311 deg/s,
      cmd heading: 80.687518 deg,
      new cmd heading: 80.687518 deg.

2021-08-14T02:41:28.425Z,1628908888.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:28.781Z,1628908888.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:41:28.781Z,1628908888.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:41:28.782Z,1628908888.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:41:28.783Z,1628908888.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:41:29.194Z,1628908889.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
312,000,005C2,189,80,80,8C,FF
2021-08-14T02:41:29.194Z,1628908889.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:41:29.194Z,1628908889.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:41:29.196Z,1628908889.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:41:29.617Z,1628908889.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:41:30.426Z,1628908890.426 [Micromodem](INFO): Nmea in: $SNTTA,0.429983,,,,024130.32*48

2021-08-14T02:41:31.250Z,1628908891.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:32.821Z,1628908892.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,8C,FF
2021-08-14T02:41:32.821Z,1628908892.821 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,8C,FF
2021-08-14T02:41:32.821Z,1628908892.821 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:41:34.077Z,1628908894.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:34.437Z,1628908894.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:41:34.437Z,1628908894.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:41:34.437Z,1628908894.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:41:34.438Z,1628908894.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:41:34.850Z,1628908894.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,8C,FF
2021-08-14T02:41:34.851Z,1628908894.851 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:41:34.851Z,1628908894.851 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:41:34.853Z,1628908894.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:41:35.248Z,1628908895.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:41:35.657Z,1628908895.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,005E4,184,80,80,8C,FF
2021-08-14T02:41:35.658Z,1628908895.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:41:36.069Z,1628908896.069 [Micromodem](INFO): Nmea in: $SNTTA,0.050868,0.315988,,,024135.97*5C

2021-08-14T02:41:36.119Z,1628908896.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.980000 m, bearing: 59.749914 deg, deltaT: 10.168062 s, approachRate: 0.200628 m/s, LOS rate: 1.186827 deg/s, posRepo size: 4
2021-08-14T02:41:36.133Z,1628908896.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.980000 m,
      bearing: 59.749914 deg,
      approachRate: 0.200628 m/s,
      LOS rate: 1.186827 deg/s,
      cmd update: 3.560482 deg/s,
      cmd heading: 340.709071 deg,
      new cmd heading: 336.924944 deg.

2021-08-14T02:41:38.529Z,1628908898.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:38.893Z,1628908898.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:41:38.893Z,1628908898.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:41:38.893Z,1628908898.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:41:38.894Z,1628908898.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:41:39.290Z,1628908899.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,005E4,184,80,80,8C,FF
2021-08-14T02:41:39.290Z,1628908899.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:41:39.290Z,1628908899.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:41:39.293Z,1628908899.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:41:39.721Z,1628908899.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:41:40.093Z,1628908900.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C21,000,005EF,189,80,80,62,FF
2021-08-14T02:41:40.094Z,1628908900.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:41:40.541Z,1628908900.541 [Micromodem](INFO): Nmea in: $SNTTA,0.286750,,,,024140.41*48

2021-08-14T02:41:40.580Z,1628908900.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 94.162436 deg, deltaT: 4.371499 s, approachRate: 0.150978 m/s, LOS rate: 7.872018 deg/s, posRepo size: 4
2021-08-14T02:41:40.609Z,1628908900.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.639999 m,
      bearing: 94.162436 deg,
      approachRate: 0.150978 m/s,
      LOS rate: 7.872018 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 356.288143 deg,
      new cmd heading: 357.950824 deg.

2021-08-14T02:41:42.954Z,1628908902.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:43.338Z,1628908903.338 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:41:43.338Z,1628908903.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:41:43.339Z,1628908903.339 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:41:43.340Z,1628908903.340 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:41:43.753Z,1628908903.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C21,000,005EF,189,80,80,62,FF
2021-08-14T02:41:43.753Z,1628908903.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:41:43.753Z,1628908903.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:41:43.754Z,1628908903.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:41:44.140Z,1628908904.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:41:44.543Z,1628908904.543 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005E2,189,80,80,A5,FF
2021-08-14T02:41:44.543Z,1628908904.543 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:41:44.957Z,1628908904.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024144.87*56

2021-08-14T02:41:44.996Z,1628908904.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.860004 m, bearing: 325.102306 deg, deltaT: 4.469465 s, approachRate: -0.174516 m/s, LOS rate: -28.875967 deg/s, posRepo size: 4
2021-08-14T02:41:44.997Z,1628908904.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -28.875967 deg/s. Setting heading cmd to target bearing of 325.102306deg and heading rate command to 0 deg/s.
2021-08-14T02:41:47.393Z,1628908907.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:47.765Z,1628908907.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:41:47.765Z,1628908907.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:41:47.765Z,1628908907.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:41:47.766Z,1628908907.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:41:48.208Z,1628908908.208 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005E2,189,80,80,A5,FF
2021-08-14T02:41:48.209Z,1628908908.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:41:48.209Z,1628908908.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:41:48.213Z,1628908908.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:41:48.617Z,1628908908.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:41:49.005Z,1628908909.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D40,000,005D2,189,80,80,BF,FF
2021-08-14T02:41:49.005Z,1628908909.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:41:49.450Z,1628908909.450 [Micromodem](INFO): Nmea in: $SNTTA,0.045108,,,,024149.34*45

2021-08-14T02:41:49.474Z,1628908909.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.899994 m, bearing: 62.385479 deg, deltaT: 4.544180 s, approachRate: -0.211262 m/s, LOS rate: 21.408299 deg/s, posRepo size: 4
2021-08-14T02:41:49.475Z,1628908909.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.408299 deg/s. Setting heading cmd to target bearing of 62.385479deg and heading rate command to 0 deg/s.
2021-08-14T02:41:51.881Z,1628908911.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:52.250Z,1628908912.250 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:41:52.250Z,1628908912.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:41:52.250Z,1628908912.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:41:52.251Z,1628908912.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:41:52.642Z,1628908912.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D40,000,005D2,189,80,80,BF,FF
2021-08-14T02:41:52.642Z,1628908912.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:41:52.642Z,1628908912.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:41:52.644Z,1628908912.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:41:53.054Z,1628908913.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:41:53.449Z,1628908913.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005CD,189,80,80,C4,FF
2021-08-14T02:41:53.450Z,1628908913.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:41:53.885Z,1628908913.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024153.77*5F

2021-08-14T02:41:53.925Z,1628908913.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.600002 m, bearing: 334.188097 deg, deltaT: 4.348350 s, approachRate: -0.068990 m/s, LOS rate: -20.282952 deg/s, posRepo size: 4
2021-08-14T02:41:53.925Z,1628908913.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.282952 deg/s. Setting heading cmd to target bearing of 334.188097deg and heading rate command to 0 deg/s.
2021-08-14T02:41:56.338Z,1628908916.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:41:56.684Z,1628908916.684 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:41:56.684Z,1628908916.684 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:41:56.685Z,1628908916.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:41:56.686Z,1628908916.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:41:57.097Z,1628908917.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005CD,189,80,80,C4,FF
2021-08-14T02:41:57.097Z,1628908917.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:41:57.097Z,1628908917.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:41:57.099Z,1628908917.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:41:57.512Z,1628908917.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:41:57.905Z,1628908917.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005D4,18A,80,80,80,FF
2021-08-14T02:41:57.906Z,1628908917.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:41:58.342Z,1628908918.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024158.22*54

2021-08-14T02:41:58.378Z,1628908918.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.020000 m, bearing: 329.455650 deg, deltaT: 4.481263 s, approachRate: 0.093723 m/s, LOS rate: -1.056052 deg/s, posRepo size: 4
2021-08-14T02:41:58.380Z,1628908918.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.020000 m,
      bearing: 329.455650 deg,
      approachRate: 0.093723 m/s,
      LOS rate: -1.056052 deg/s,
      cmd update: -3.168156 deg/s,
      cmd heading: 334.188097 deg,
      new cmd heading: 334.188097 deg.

2021-08-14T02:42:00.781Z,1628908920.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:01.133Z,1628908921.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:42:01.133Z,1628908921.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:42:01.133Z,1628908921.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:42:01.134Z,1628908921.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:42:01.533Z,1628908921.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005D4,18A,80,80,80,FF
2021-08-14T02:42:01.534Z,1628908921.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:42:01.534Z,1628908921.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:42:01.535Z,1628908921.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:42:01.937Z,1628908921.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:42:02.345Z,1628908922.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005D7,189,80,80,92,FF
2021-08-14T02:42:02.345Z,1628908922.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:42:02.781Z,1628908922.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024202.66*58

2021-08-14T02:42:02.819Z,1628908922.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.200001 m, bearing: 331.844522 deg, deltaT: 4.451135 s, approachRate: 0.040439 m/s, LOS rate: 0.536688 deg/s, posRepo size: 4
2021-08-14T02:42:02.821Z,1628908922.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.200001 m,
      bearing: 331.844522 deg,
      approachRate: 0.040439 m/s,
      LOS rate: 0.536688 deg/s,
      cmd update: 1.610065 deg/s,
      cmd heading: 320.084970 deg,
      new cmd heading: 318.772372 deg.

2021-08-14T02:42:03.973Z,1628908923.973 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T02:42:05.183Z,1628908925.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:05.576Z,1628908925.576 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:42:05.577Z,1628908925.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:42:05.577Z,1628908925.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:42:05.578Z,1628908925.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:42:05.976Z,1628908925.976 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005D7,189,80,80,92,FF
2021-08-14T02:42:05.976Z,1628908925.976 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:42:05.976Z,1628908925.976 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:42:06.020Z,1628908926.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:42:06.433Z,1628908926.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:42:06.838Z,1628908926.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005D6,189,80,80,B5,FF
2021-08-14T02:42:06.839Z,1628908926.839 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:42:07.261Z,1628908927.261 [Micromodem](INFO): Nmea in: $SNTTA,0.063516,,,,024207.17*42

2021-08-14T02:42:07.318Z,1628908927.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.139999 m, bearing: 313.291297 deg, deltaT: 4.461822 s, approachRate: -0.013448 m/s, LOS rate: -4.158217 deg/s, posRepo size: 4
2021-08-14T02:42:07.324Z,1628908927.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.139999 m,
      bearing: 313.291297 deg,
      approachRate: -0.013448 m/s,
      LOS rate: -4.158217 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 327.268780 deg,
      new cmd heading: 327.979649 deg.

2021-08-14T02:42:09.768Z,1628908929.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:10.073Z,1628908930.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:42:10.073Z,1628908930.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:42:10.073Z,1628908930.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:42:10.074Z,1628908930.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:42:10.469Z,1628908930.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005D6,189,80,80,B5,FF
2021-08-14T02:42:10.469Z,1628908930.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:42:10.469Z,1628908930.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:42:10.471Z,1628908930.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:42:10.894Z,1628908930.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:42:11.282Z,1628908931.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005CF,189,80,80,68,FF
2021-08-14T02:42:11.282Z,1628908931.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:42:11.725Z,1628908931.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024211.59*56

2021-08-14T02:42:11.751Z,1628908931.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.719997 m, bearing: 295.283722 deg, deltaT: 4.463717 s, approachRate: -0.094092 m/s, LOS rate: -4.034211 deg/s, posRepo size: 4
2021-08-14T02:42:11.754Z,1628908931.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.719997 m,
      bearing: 295.283722 deg,
      approachRate: -0.094092 m/s,
      LOS rate: -4.034211 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 273.752282 deg,
      new cmd heading: 268.649786 deg.

2021-08-14T02:42:14.132Z,1628908934.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:14.509Z,1628908934.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:42:14.509Z,1628908934.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:42:14.509Z,1628908934.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:42:14.510Z,1628908934.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:42:14.910Z,1628908934.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005CF,189,80,80,68,FF
2021-08-14T02:42:14.911Z,1628908934.911 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:42:14.911Z,1628908934.911 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:42:14.913Z,1628908934.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:42:15.334Z,1628908935.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:42:15.753Z,1628908935.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,460,000,005B8,18A,80,80,A0,FF
2021-08-14T02:42:15.754Z,1628908935.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:42:16.173Z,1628908936.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024216.04*59

2021-08-14T02:42:16.244Z,1628908936.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.340000 m, bearing: 285.801370 deg, deltaT: 4.451826 s, approachRate: -0.309985 m/s, LOS rate: -2.129992 deg/s, posRepo size: 4
2021-08-14T02:42:16.246Z,1628908936.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.340000 m,
      bearing: 285.801370 deg,
      approachRate: -0.309985 m/s,
      LOS rate: -2.129992 deg/s,
      cmd update: -6.389975 deg/s,
      cmd heading: 220.288152 deg,
      new cmd heading: 214.786908 deg.

2021-08-14T02:42:18.601Z,1628908938.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:18.961Z,1628908938.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:42:18.961Z,1628908938.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:42:18.962Z,1628908938.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:42:18.963Z,1628908938.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:42:19.354Z,1628908939.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
460,000,005B8,18A,80,80,A0,FF
2021-08-14T02:42:19.354Z,1628908939.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:42:19.354Z,1628908939.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:42:19.356Z,1628908939.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:42:19.761Z,1628908939.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:42:20.189Z,1628908940.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2ED,000,00597,188,80,80,BA,FF
2021-08-14T02:42:20.190Z,1628908940.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:42:20.207Z,1628908940.207 [Micromodem](INFO): Nmea in: $SNTTA,0.308486,0.308224,,,024220.48*5A

2021-08-14T02:42:20.687Z,1628908940.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.360004 m, bearing: 287.763164 deg, deltaT: 4.534768 s, approachRate: -0.436626 m/s, LOS rate: 0.432612 deg/s, posRepo size: 4
2021-08-14T02:42:20.722Z,1628908940.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.360004 m,
      bearing: 287.763164 deg,
      approachRate: -0.436626 m/s,
      LOS rate: 0.432612 deg/s,
      cmd update: 1.297836 deg/s,
      cmd heading: 191.333670 deg,
      new cmd heading: 189.098220 deg.

2021-08-14T02:42:23.050Z,1628908943.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:23.406Z,1628908943.406 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:42:23.406Z,1628908943.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:42:23.407Z,1628908943.407 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:42:23.408Z,1628908943.408 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:42:23.801Z,1628908943.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2ED,000,00597,188,80,80,BA,FF
2021-08-14T02:42:23.801Z,1628908943.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:42:23.801Z,1628908943.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:42:23.803Z,1628908943.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:42:24.241Z,1628908944.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:42:24.621Z,1628908944.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C2,000,00573,186,80,80,85,FF
2021-08-14T02:42:24.621Z,1628908944.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:42:25.070Z,1628908945.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.199997 m, bearing: 286.898982 deg, deltaT: 4.407400 s, approachRate: -0.490087 m/s, LOS rate: -0.196075 deg/s, posRepo size: 4
2021-08-14T02:42:25.072Z,1628908945.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.199997 m,
      bearing: 286.898982 deg,
      approachRate: -0.490087 m/s,
      LOS rate: -0.196075 deg/s,
      cmd update: -0.588226 deg/s,
      cmd heading: 197.053715 deg,
      new cmd heading: 197.507768 deg.

2021-08-14T02:42:27.474Z,1628908947.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:27.845Z,1628908947.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:42:27.845Z,1628908947.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:42:27.845Z,1628908947.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:42:27.846Z,1628908947.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:42:28.273Z,1628908948.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C2,000,00573,186,80,80,85,FF
2021-08-14T02:42:28.273Z,1628908948.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:42:28.274Z,1628908948.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:42:28.276Z,1628908948.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:42:28.699Z,1628908948.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:42:29.093Z,1628908949.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,00545,187,80,80,9A,FF
2021-08-14T02:42:29.093Z,1628908949.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:42:29.525Z,1628908949.525 [Micromodem](INFO): Nmea in: $SNTTA,0.045056,,,,024229.40*49

2021-08-14T02:42:29.581Z,1628908949.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.439999 m, bearing: 286.628151 deg, deltaT: 4.386646 s, approachRate: -0.629182 m/s, LOS rate: -0.061740 deg/s, posRepo size: 4
2021-08-14T02:42:29.583Z,1628908949.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.439999 m,
      bearing: 286.628151 deg,
      approachRate: -0.629182 m/s,
      LOS rate: -0.061740 deg/s,
      cmd update: -0.185219 deg/s,
      cmd heading: 194.470990 deg,
      new cmd heading: 194.213696 deg.

2021-08-14T02:42:31.951Z,1628908951.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:32.333Z,1628908952.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:42:32.333Z,1628908952.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:42:32.333Z,1628908952.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:42:32.334Z,1628908952.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:42:32.761Z,1628908952.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,00545,187,80,80,9A,FF
2021-08-14T02:42:32.761Z,1628908952.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:42:32.761Z,1628908952.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:42:32.763Z,1628908952.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:42:33.141Z,1628908953.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:42:33.949Z,1628908953.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024233.89*5B

2021-08-14T02:42:34.814Z,1628908954.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:36.377Z,1628908956.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,9A,FF
2021-08-14T02:42:36.377Z,1628908956.377 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,9A,FF
2021-08-14T02:42:36.377Z,1628908956.377 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:42:37.591Z,1628908957.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:37.988Z,1628908957.988 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:42:37.988Z,1628908957.988 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:42:37.988Z,1628908957.988 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:42:37.990Z,1628908957.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:42:38.385Z,1628908958.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,9A,FF
2021-08-14T02:42:38.386Z,1628908958.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:42:38.386Z,1628908958.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:42:38.387Z,1628908958.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:42:38.794Z,1628908958.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:42:39.193Z,1628908959.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2E,000,004E0,189,80,80,39,FF
2021-08-14T02:42:39.194Z,1628908959.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:42:39.626Z,1628908959.626 [Micromodem](INFO): Nmea in: $SNTTA,0.053785,,,,024239.51*46

2021-08-14T02:42:39.727Z,1628908959.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.380001 m, bearing: 288.855230 deg, deltaT: 10.100018 s, approachRate: -0.599999 m/s, LOS rate: 0.220502 deg/s, posRepo size: 4
2021-08-14T02:42:39.732Z,1628908959.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.38 m.
2021-08-14T02:42:39.734Z,1628908959.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.380001 m,
      bearing: 288.855230 deg,
      approachRate: -0.599999 m/s,
      LOS rate: 0.220502 deg/s,
      cmd update: 0.661507 deg/s,
      cmd heading: 192.600272 deg,
      new cmd heading: 192.504531 deg.

2021-08-14T02:42:40.065Z,1628908960.065 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:42:40.066Z,1628908960.066 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:42:40.066Z,1628908960.066 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:42:40.066Z,1628908960.066 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:42:40.067Z,1628908960.067 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:42:40.067Z,1628908960.067 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:42:40.483Z,1628908960.483 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:42:40.483Z,1628908960.483 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:42:40.484Z,1628908960.484 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:42:40.484Z,1628908960.484 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:42:41.723Z,1628908961.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:42.017Z,1628908962.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:42:42.018Z,1628908962.018 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:42:42.018Z,1628908962.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:42:42.019Z,1628908962.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:42:42.429Z,1628908962.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2E,000,004E0,189,80,80,39,FF
2021-08-14T02:42:42.429Z,1628908962.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:42:42.429Z,1628908962.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:42:42.431Z,1628908962.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:42:42.835Z,1628908962.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:42:43.233Z,1628908963.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C06,000,004C1,189,80,80,71,FF
2021-08-14T02:42:43.233Z,1628908963.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:42:43.254Z,1628908963.254 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:42:43.690Z,1628908963.690 [Micromodem](INFO): Nmea in: $SNTTA,0.026144,,,,024243.55*46

2021-08-14T02:42:43.755Z,1628908963.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.520000 m, bearing: 285.775716 deg, deltaT: 4.040776 s, approachRate: -0.460308 m/s, LOS rate: -0.762109 deg/s, posRepo size: 4
2021-08-14T02:42:43.756Z,1628908963.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.52 m.
2021-08-14T02:42:43.758Z,1628908963.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.520000 m,
      bearing: 285.775716 deg,
      approachRate: -0.460308 m/s,
      LOS rate: -0.762109 deg/s,
      cmd update: -2.286328 deg/s,
      cmd heading: 195.272948 deg,
      new cmd heading: 195.606762 deg.

2021-08-14T02:42:46.110Z,1628908966.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:46.465Z,1628908966.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:42:46.465Z,1628908966.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:42:46.465Z,1628908966.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:42:46.466Z,1628908966.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:42:46.865Z,1628908966.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C06,000,004C1,189,80,80,71,FF
2021-08-14T02:42:46.865Z,1628908966.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:42:46.865Z,1628908966.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:42:46.867Z,1628908966.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:42:47.279Z,1628908967.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:42:47.696Z,1628908967.696 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,004AB,189,80,80,70,FF
2021-08-14T02:42:47.697Z,1628908967.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:42:47.799Z,1628908967.799 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:42:48.117Z,1628908968.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024247.99*59

2021-08-14T02:42:48.142Z,1628908968.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 282.772427 deg, deltaT: 4.549502 s, approachRate: -0.290142 m/s, LOS rate: -0.660136 deg/s, posRepo size: 4
2021-08-14T02:42:48.143Z,1628908968.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.20 m.
2021-08-14T02:42:48.201Z,1628908968.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.200001 m,
      bearing: 282.772427 deg,
      approachRate: -0.290142 m/s,
      LOS rate: -0.660136 deg/s,
      cmd update: -1.980407 deg/s,
      cmd heading: 184.906824 deg,
      new cmd heading: 184.094275 deg.

2021-08-14T02:42:50.553Z,1628908970.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:50.905Z,1628908970.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:42:50.905Z,1628908970.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:42:50.905Z,1628908970.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:42:50.906Z,1628908970.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:42:51.317Z,1628908971.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,004AB,189,80,80,70,FF
2021-08-14T02:42:51.317Z,1628908971.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:42:51.317Z,1628908971.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:42:51.319Z,1628908971.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:42:51.748Z,1628908971.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:42:52.550Z,1628908972.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024252.44*5D

2021-08-14T02:42:53.379Z,1628908973.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:54.556Z,1628908974.556 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,0754B,187,80,80,5C,FF
2021-08-14T02:42:54.557Z,1628908974.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:42:54.625Z,1628908974.625 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:42:54.997Z,1628908974.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1764.119995 m, bearing: 222.145141 deg, deltaT: 6.821910 s, approachRate: 253.582947 m/s, LOS rate: -8.887142 deg/s, posRepo size: 4
2021-08-14T02:42:54.999Z,1628908974.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1764.119995 m,
      bearing: 222.145141 deg,
      approachRate: 253.582947 m/s,
      LOS rate: -8.887142 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 171.412663 deg,
      new cmd heading: 170.657276 deg.

2021-08-14T02:42:55.404Z,1628908975.404 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:42:55.404Z,1628908975.404 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:42:55.404Z,1628908975.404 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:42:55.405Z,1628908975.405 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:42:55.405Z,1628908975.405 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:42:55.405Z,1628908975.405 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:42:55.820Z,1628908975.820 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:42:55.820Z,1628908975.820 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:42:55.820Z,1628908975.820 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:42:55.820Z,1628908975.820 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:42:57.406Z,1628908977.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:42:57.782Z,1628908977.782 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:42:57.782Z,1628908977.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:42:57.782Z,1628908977.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:42:57.783Z,1628908977.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:42:58.201Z,1628908978.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,0754B,187,80,80,5C,FF
2021-08-14T02:42:58.201Z,1628908978.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:42:58.202Z,1628908978.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:42:58.207Z,1628908978.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:42:58.593Z,1628908978.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:42:58.993Z,1628908978.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE1,000,004AD,189,80,80,56,FF
2021-08-14T02:42:58.994Z,1628908978.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:42:59.477Z,1628908979.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024259.33*56

2021-08-14T02:42:59.528Z,1628908979.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.320000 m, bearing: 218.024843 deg, deltaT: 4.418682 s, approachRate: -391.474213 m/s, LOS rate: -0.932472 deg/s, posRepo size: 4
2021-08-14T02:42:59.529Z,1628908979.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.32 m.
2021-08-14T02:42:59.529Z,1628908979.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.32 m.
2021-08-14T02:42:59.529Z,1628908979.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T02:42:59.531Z,1628908979.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.320000 m,
      bearing: 218.024843 deg,
      approachRate: -391.474213 m/s,
      LOS rate: -0.932472 deg/s,
      cmd update: -2.797416 deg/s,
      cmd heading: 118.347846 deg,
      new cmd heading: 112.307130 deg.

2021-08-14T02:42:59.825Z,1628908979.825 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T02:42:59.837Z,1628908979.837 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:42:59.837Z,1628908979.837 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:42:59.838Z,1628908979.838 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:42:59.838Z,1628908979.838 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:42:59.838Z,1628908979.838 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:42:59.838Z,1628908979.838 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:43:00.318Z,1628908980.318 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:43:00.318Z,1628908980.318 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:43:00.319Z,1628908980.319 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:43:00.319Z,1628908980.319 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:43:01.870Z,1628908981.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:43:02.249Z,1628908982.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:43:02.249Z,1628908982.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:43:02.249Z,1628908982.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:43:02.250Z,1628908982.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:43:02.633Z,1628908982.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE1,000,004AD,189,80,80,56,FF
2021-08-14T02:43:02.634Z,1628908982.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:43:02.634Z,1628908982.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:43:02.635Z,1628908982.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:43:03.032Z,1628908983.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:43:03.433Z,1628908983.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,004CB,186,80,80,56,FF
2021-08-14T02:43:03.433Z,1628908983.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:43:03.453Z,1628908983.453 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:43:03.869Z,1628908983.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024303.76*59

2021-08-14T02:43:03.912Z,1628908983.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.119999 m, bearing: 183.492936 deg, deltaT: 4.409229 s, approachRate: 0.408234 m/s, LOS rate: -7.831733 deg/s, posRepo size: 4
2021-08-14T02:43:03.914Z,1628908983.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.119999 m,
      bearing: 183.492936 deg,
      approachRate: 0.408234 m/s,
      LOS rate: -7.831733 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 105.956287 deg,
      new cmd heading: 104.665844 deg.

2021-08-14T02:43:06.322Z,1628908986.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:43:06.675Z,1628908986.675 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:43:06.675Z,1628908986.675 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:43:06.676Z,1628908986.676 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:43:06.677Z,1628908986.677 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:43:07.080Z,1628908987.080 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,004CB,186,80,80,56,FF
2021-08-14T02:43:07.080Z,1628908987.080 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:43:07.081Z,1628908987.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:43:07.082Z,1628908987.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:43:07.480Z,1628908987.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:43:08.303Z,1628908988.303 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024308.21*50

2021-08-14T02:43:09.164Z,1628908989.164 [DDM](ERROR): Could not parse whisker state
2021-08-14T02:43:09.194Z,1628908989.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:43:09.913Z,1628908989.913 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T02:43:10.712Z,1628908990.712 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,56,FF
2021-08-14T02:43:10.713Z,1628908990.713 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,56,FF
2021-08-14T02:43:10.713Z,1628908990.713 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:43:11.949Z,1628908991.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:43:12.321Z,1628908992.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:43:12.321Z,1628908992.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:43:12.322Z,1628908992.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:43:12.323Z,1628908992.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:43:12.753Z,1628908992.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,56,FF
2021-08-14T02:43:12.753Z,1628908992.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:43:12.753Z,1628908992.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:43:12.755Z,1628908992.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:43:13.125Z,1628908993.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:43:13.533Z,1628908993.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,0052F,187,80,80,96,FF
2021-08-14T02:43:13.533Z,1628908993.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:43:13.554Z,1628908993.554 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:43:13.965Z,1628908993.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024313.88*59

2021-08-14T02:43:14.007Z,1628908994.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.119999 m, bearing: 130.954630 deg, deltaT: 10.100590 s, approachRate: 0.594025 m/s, LOS rate: -5.201509 deg/s, posRepo size: 4
2021-08-14T02:43:14.014Z,1628908994.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.119999 m,
      bearing: 130.954630 deg,
      approachRate: 0.594025 m/s,
      LOS rate: -5.201509 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 344.750836 deg,
      new cmd heading: 339.271816 deg.

2021-08-14T02:43:14.394Z,1628908994.394 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:43:14.394Z,1628908994.394 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:43:14.395Z,1628908994.395 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:43:14.395Z,1628908994.395 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:43:14.395Z,1628908994.395 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:43:14.395Z,1628908994.395 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:43:14.788Z,1628908994.788 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-14T02:43:14.799Z,1628908994.799 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:43:14.799Z,1628908994.799 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:43:14.799Z,1628908994.799 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:43:14.799Z,1628908994.799 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:43:16.413Z,1628908996.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:43:16.765Z,1628908996.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:43:16.765Z,1628908996.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:43:16.765Z,1628908996.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:43:16.766Z,1628908996.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:43:17.173Z,1628908997.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,0052F,187,80,80,96,FF
2021-08-14T02:43:17.174Z,1628908997.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:43:17.174Z,1628908997.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:43:17.175Z,1628908997.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:43:17.572Z,1628908997.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:43:17.969Z,1628908997.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,346,000,0055B,189,80,80,56,FF
2021-08-14T02:43:17.969Z,1628908997.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:43:18.393Z,1628908998.393 [Micromodem](INFO): Nmea in: $SNTTA,0.048227,0.398243,,,024318.30*5D

2021-08-14T02:43:18.445Z,1628908998.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.759998 m, bearing: 66.433616 deg, deltaT: 4.474062 s, approachRate: 0.590068 m/s, LOS rate: -14.421127 deg/s, posRepo size: 4
2021-08-14T02:43:18.446Z,1628908998.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.421127 deg/s. Setting heading cmd to target bearing of 66.433616deg and heading rate command to 0 deg/s.
2021-08-14T02:43:20.010Z,1628909000.010 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:43:20.862Z,1628909000.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:43:21.213Z,1628909001.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:43:21.213Z,1628909001.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:43:21.213Z,1628909001.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:43:21.214Z,1628909001.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:43:21.613Z,1628909001.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
346,000,0055B,189,80,80,56,FF
2021-08-14T02:43:21.613Z,1628909001.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:43:21.613Z,1628909001.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:43:21.615Z,1628909001.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:43:22.027Z,1628909002.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:43:22.425Z,1628909002.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,00582,187,80,80,95,FF
2021-08-14T02:43:22.425Z,1628909002.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:43:22.873Z,1628909002.873 [Micromodem](INFO): Nmea in: $SNTTA,0.055621,,,,024322.74*43

2021-08-14T02:43:22.899Z,1628909002.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.100002 m, bearing: 80.398307 deg, deltaT: 4.465997 s, approachRate: 0.523960 m/s, LOS rate: 3.126892 deg/s, posRepo size: 4
2021-08-14T02:43:22.899Z,1628909002.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 47.10 m. Rolling out.
2021-08-14T02:43:22.899Z,1628909002.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T02:43:24.858Z,1628909004.858 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:43:25.271Z,1628909005.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:43:25.657Z,1628909005.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:43:25.657Z,1628909005.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:43:25.658Z,1628909005.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:43:25.659Z,1628909005.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:43:26.066Z,1628909006.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,00582,187,80,80,95,FF
2021-08-14T02:43:26.066Z,1628909006.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:43:26.066Z,1628909006.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:43:26.068Z,1628909006.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:43:26.469Z,1628909006.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:43:26.873Z,1628909006.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37B,000,005A6,189,80,80,84,FF
2021-08-14T02:43:26.873Z,1628909006.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:43:27.306Z,1628909007.306 [Micromodem](INFO): Nmea in: $SNTTA,0.048426,,,,024327.19*44

2021-08-14T02:43:27.327Z,1628909007.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 30.449929 deg, deltaT: 4.455637 s, approachRate: 0.484778 m/s, LOS rate: -11.210154 deg/s, posRepo size: 4
2021-08-14T02:43:29.742Z,1628909009.742 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T02:43:29.777Z,1628909009.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:43:30.105Z,1628909010.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:43:30.105Z,1628909010.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:43:30.105Z,1628909010.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:43:30.106Z,1628909010.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:43:30.501Z,1628909010.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37B,000,005A6,189,80,80,84,FF
2021-08-14T02:43:30.502Z,1628909010.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:43:30.502Z,1628909010.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:43:30.503Z,1628909010.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:43:30.906Z,1628909010.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:43:31.315Z,1628909011.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A2,000,005C4,185,80,80,B1,FF
2021-08-14T02:43:31.316Z,1628909011.316 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:43:31.770Z,1628909011.770 [Micromodem](INFO): Nmea in: $SNTTA,0.058875,,,,024331.63*45

2021-08-14T02:43:31.796Z,1628909011.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.059994 m, bearing: 35.929725 deg, deltaT: 4.390779 s, approachRate: 0.409949 m/s, LOS rate: 1.248024 deg/s, posRepo size: 4
2021-08-14T02:43:34.240Z,1628909014.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:43:34.545Z,1628909014.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:43:34.545Z,1628909014.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:43:34.545Z,1628909014.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:43:34.546Z,1628909014.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:43:34.954Z,1628909014.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A2,000,005C4,185,80,80,B1,FF
2021-08-14T02:43:34.954Z,1628909014.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:43:34.954Z,1628909014.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:43:34.957Z,1628909014.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:43:35.357Z,1628909015.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:43:35.777Z,1628909015.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,005D5,189,80,80,87,FF
2021-08-14T02:43:35.778Z,1628909015.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:43:35.793Z,1628909015.793 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-14T02:43:36.213Z,1628909016.213 [Micromodem](INFO): Nmea in: $SNTTA,0.052996,,,,024336.08*49

2021-08-14T02:43:36.259Z,1628909016.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.079994 m, bearing: 19.426361 deg, deltaT: 4.468069 s, approachRate: 0.228287 m/s, LOS rate: -3.693623 deg/s, posRepo size: 4
2021-08-14T02:43:38.622Z,1628909018.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:43:38.986Z,1628909018.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:43:38.986Z,1628909018.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:43:38.986Z,1628909018.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:43:38.987Z,1628909018.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:43:39.389Z,1628909019.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,005D5,189,80,80,87,FF
2021-08-14T02:43:39.390Z,1628909019.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:43:39.390Z,1628909019.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:43:39.392Z,1628909019.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:43:39.799Z,1628909019.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:43:40.238Z,1628909020.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,005F3,189,80,80,7E,FF
2021-08-14T02:43:40.238Z,1628909020.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:43:40.638Z,1628909020.638 [Micromodem](INFO): Nmea in: $SNTTA,0.058744,,,,024340.52*4C

2021-08-14T02:43:40.717Z,1628909020.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.880001 m, bearing: 32.375172 deg, deltaT: 4.501117 s, approachRate: 0.399902 m/s, LOS rate: 2.876799 deg/s, posRepo size: 4
2021-08-14T02:43:43.078Z,1628909023.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:43:43.425Z,1628909023.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:43:43.425Z,1628909023.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:43:43.425Z,1628909023.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:43:43.426Z,1628909023.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:43:43.838Z,1628909023.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,005F3,189,80,80,7E,FF
2021-08-14T02:43:43.838Z,1628909023.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:43:43.839Z,1628909023.839 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:43:43.842Z,1628909023.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:43:44.253Z,1628909024.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:43:44.646Z,1628909024.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,433,000,00621,189,80,80,45,FF
2021-08-14T02:43:44.646Z,1628909024.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:43:45.069Z,1628909025.069 [Micromodem](INFO): Nmea in: $SNTTA,0.047577,,,,024344.96*4C

2021-08-14T02:43:45.079Z,1628909025.079 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T02:43:45.116Z,1628909025.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.640007 m, bearing: 20.752831 deg, deltaT: 4.444162 s, approachRate: 0.621041 m/s, LOS rate: -2.615193 deg/s, posRepo size: 4
2021-08-14T02:43:47.486Z,1628909027.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:43:47.869Z,1628909027.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:43:47.869Z,1628909027.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:43:47.869Z,1628909027.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:43:47.870Z,1628909027.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:43:48.270Z,1628909028.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
433,000,00621,189,80,80,45,FF
2021-08-14T02:43:48.270Z,1628909028.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:43:48.270Z,1628909028.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:43:48.272Z,1628909028.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:43:48.705Z,1628909028.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:43:49.086Z,1628909029.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,284,000,00648,18A,80,80,85,FF
2021-08-14T02:43:49.086Z,1628909029.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:43:49.534Z,1628909029.534 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024349.40*52

2021-08-14T02:43:49.582Z,1628909029.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.980000 m, bearing: 40.602818 deg, deltaT: 4.352071 s, approachRate: 0.537673 m/s, LOS rate: 4.561044 deg/s, posRepo size: 4
2021-08-14T02:43:49.928Z,1628909029.928 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:43:51.950Z,1628909031.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:43:52.317Z,1628909032.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:43:52.317Z,1628909032.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:43:52.317Z,1628909032.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:43:52.318Z,1628909032.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:43:52.749Z,1628909032.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
284,000,00648,18A,80,80,85,FF
2021-08-14T02:43:52.749Z,1628909032.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:43:52.749Z,1628909032.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:43:52.751Z,1628909032.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:43:53.131Z,1628909033.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:43:53.525Z,1628909033.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,443,000,00675,189,80,80,8C,FF
2021-08-14T02:43:53.526Z,1628909033.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:43:53.961Z,1628909033.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024353.87*52

2021-08-14T02:43:54.011Z,1628909034.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.680000 m, bearing: 19.020431 deg, deltaT: 4.484725 s, approachRate: 0.602044 m/s, LOS rate: -4.812422 deg/s, posRepo size: 4
2021-08-14T02:43:54.810Z,1628909034.810 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:43:56.391Z,1628909036.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:43:56.757Z,1628909036.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:43:56.757Z,1628909036.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:43:56.757Z,1628909036.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:43:56.758Z,1628909036.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:43:57.161Z,1628909037.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
443,000,00675,189,80,80,8C,FF
2021-08-14T02:43:57.161Z,1628909037.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:43:57.161Z,1628909037.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:43:57.163Z,1628909037.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:43:57.573Z,1628909037.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:43:57.973Z,1628909037.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A7,000,006A7,189,80,80,6F,FF
2021-08-14T02:43:57.974Z,1628909037.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:43:58.421Z,1628909038.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024358.29*5D

2021-08-14T02:43:58.517Z,1628909038.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.680008 m, bearing: 13.939717 deg, deltaT: 4.453813 s, approachRate: 0.673582 m/s, LOS rate: -1.140756 deg/s, posRepo size: 4
2021-08-14T02:44:00.850Z,1628909040.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:44:01.201Z,1628909041.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:44:01.201Z,1628909041.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:44:01.201Z,1628909041.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:44:01.202Z,1628909041.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:44:01.611Z,1628909041.611 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4A7,000,006A7,189,80,80,6F,FF
2021-08-14T02:44:01.611Z,1628909041.611 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:44:01.611Z,1628909041.611 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:44:01.613Z,1628909041.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:44:02.025Z,1628909042.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:44:02.413Z,1628909042.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,006DA,187,80,80,95,FF
2021-08-14T02:44:02.414Z,1628909042.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:44:02.853Z,1628909042.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024402.73*5A

2021-08-14T02:44:02.899Z,1628909042.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.740005 m, bearing: 69.296784 deg, deltaT: 4.506588 s, approachRate: 0.679005 m/s, LOS rate: 12.283587 deg/s, posRepo size: 4
2021-08-14T02:44:05.267Z,1628909045.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:44:05.657Z,1628909045.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:44:05.657Z,1628909045.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:44:05.657Z,1628909045.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:44:05.658Z,1628909045.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:44:06.053Z,1628909046.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,006DA,187,80,80,95,FF
2021-08-14T02:44:06.053Z,1628909046.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:44:06.053Z,1628909046.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:44:06.055Z,1628909046.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:44:06.476Z,1628909046.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:44:06.861Z,1628909046.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,436,000,0070D,189,80,80,83,FF
2021-08-14T02:44:06.862Z,1628909046.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:44:07.325Z,1628909047.325 [Micromodem](INFO): Nmea in: $SNTTA,0.073056,,,,024407.18*4B

2021-08-14T02:44:07.370Z,1628909047.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.800003 m, bearing: 20.687070 deg, deltaT: 4.385196 s, approachRate: 0.697802 m/s, LOS rate: -11.084957 deg/s, posRepo size: 4
2021-08-14T02:44:09.799Z,1628909049.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:44:10.101Z,1628909050.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:44:10.101Z,1628909050.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:44:10.101Z,1628909050.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:44:10.102Z,1628909050.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:44:10.128Z,1628909050.128 [PowerOnly](INFO): Powering down loadControl
2021-08-14T02:44:10.509Z,1628909050.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
436,000,0070D,189,80,80,83,FF
2021-08-14T02:44:10.509Z,1628909050.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:44:10.509Z,1628909050.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:44:10.511Z,1628909050.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:44:10.909Z,1628909050.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:44:11.313Z,1628909051.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00744,186,80,80,85,FF
2021-08-14T02:44:11.313Z,1628909051.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:44:11.777Z,1628909051.777 [Micromodem](INFO): Nmea in: $SNTTA,0.121961,,,,024411.63*4B

2021-08-14T02:44:11.803Z,1628909051.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.100006 m, bearing: 84.617315 deg, deltaT: 4.396523 s, approachRate: 0.750594 m/s, LOS rate: 14.541092 deg/s, posRepo size: 4
2021-08-14T02:44:14.228Z,1628909054.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:44:14.537Z,1628909054.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:44:14.537Z,1628909054.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:44:14.537Z,1628909054.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:44:14.538Z,1628909054.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:44:14.946Z,1628909054.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,00744,186,80,80,85,FF
2021-08-14T02:44:14.947Z,1628909054.947 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:44:14.947Z,1628909054.947 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:44:14.949Z,1628909054.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:44:15.353Z,1628909055.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:44:15.787Z,1628909055.787 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,00779,186,80,80,87,FF
2021-08-14T02:44:15.787Z,1628909055.787 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:44:16.221Z,1628909056.221 [Micromodem](INFO): Nmea in: $SNTTA,0.199046,,,,024416.07*41

2021-08-14T02:44:16.283Z,1628909056.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.280006 m, bearing: 88.791633 deg, deltaT: 4.483834 s, approachRate: 0.709215 m/s, LOS rate: 0.930971 deg/s, posRepo size: 4
2021-08-14T02:44:18.595Z,1628909058.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:44:18.995Z,1628909058.995 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:44:18.995Z,1628909058.995 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:44:18.995Z,1628909058.995 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:44:18.996Z,1628909058.996 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:44:19.385Z,1628909059.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,00779,186,80,80,87,FF
2021-08-14T02:44:19.385Z,1628909059.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:44:19.385Z,1628909059.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:44:19.387Z,1628909059.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:44:19.797Z,1628909059.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:44:20.241Z,1628909060.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,007AA,187,80,80,8F,FF
2021-08-14T02:44:20.242Z,1628909060.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:44:20.245Z,1628909060.245 [Micromodem](INFO): Nmea in: $SNTTA,0.292446,0.292465,,,024420.51*5B

2021-08-14T02:44:20.636Z,1628909060.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.220001 m, bearing: 98.136520 deg, deltaT: 4.502448 s, approachRate: 0.652977 m/s, LOS rate: 2.075513 deg/s, posRepo size: 4
2021-08-14T02:44:23.073Z,1628909063.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:44:23.426Z,1628909063.426 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:44:23.426Z,1628909063.426 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:44:23.426Z,1628909063.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:44:23.427Z,1628909063.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:44:23.837Z,1628909063.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,007AA,187,80,80,8F,FF
2021-08-14T02:44:23.837Z,1628909063.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:44:23.837Z,1628909063.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:44:23.839Z,1628909063.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:44:24.252Z,1628909064.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:44:24.643Z,1628909064.643 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB5,000,007DF,189,80,80,72,FF
2021-08-14T02:44:24.643Z,1628909064.643 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:44:25.081Z,1628909065.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024424.96*55

2021-08-14T02:44:25.130Z,1628909065.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.400002 m, bearing: 101.942643 deg, deltaT: 4.356242 s, approachRate: 0.729987 m/s, LOS rate: 0.873717 deg/s, posRepo size: 4
2021-08-14T02:44:27.482Z,1628909067.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:44:27.873Z,1628909067.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:44:27.873Z,1628909067.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:44:27.874Z,1628909067.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:44:27.875Z,1628909067.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:44:28.274Z,1628909068.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB5,000,007DF,189,80,80,72,FF
2021-08-14T02:44:28.274Z,1628909068.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:44:28.274Z,1628909068.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:44:28.277Z,1628909068.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:44:28.707Z,1628909068.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:44:29.093Z,1628909069.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D89,000,00813,189,80,80,5D,FF
2021-08-14T02:44:29.093Z,1628909069.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:44:29.521Z,1628909069.521 [Micromodem](INFO): Nmea in: $SNTTA,0.093939,,,,024429.40*44

2021-08-14T02:44:29.539Z,1628909069.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.520004 m, bearing: 104.901331 deg, deltaT: 4.463046 s, approachRate: 0.699075 m/s, LOS rate: 0.662930 deg/s, posRepo size: 4
2021-08-14T02:44:31.937Z,1628909071.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:44:32.322Z,1628909072.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:44:32.322Z,1628909072.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:44:32.322Z,1628909072.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:44:32.323Z,1628909072.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:44:32.749Z,1628909072.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D89,000,00813,189,80,80,5D,FF
2021-08-14T02:44:32.749Z,1628909072.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:44:32.749Z,1628909072.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:44:32.751Z,1628909072.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:44:33.133Z,1628909073.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:44:33.538Z,1628909073.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,0084C,187,80,80,72,FF
2021-08-14T02:44:33.538Z,1628909073.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:44:33.957Z,1628909073.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024433.87*53

2021-08-14T02:44:33.991Z,1628909073.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.940002 m, bearing: 93.810135 deg, deltaT: 4.419521 s, approachRate: 0.773839 m/s, LOS rate: -2.509592 deg/s, posRepo size: 4
2021-08-14T02:44:36.387Z,1628909076.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:44:36.753Z,1628909076.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:44:36.753Z,1628909076.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:44:36.754Z,1628909076.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:44:36.755Z,1628909076.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:44:37.165Z,1628909077.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,0084C,187,80,80,72,FF
2021-08-14T02:44:37.165Z,1628909077.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:44:37.165Z,1628909077.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:44:37.167Z,1628909077.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:44:37.573Z,1628909077.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:44:37.976Z,1628909077.976 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,00885,188,80,80,5D,FF
2021-08-14T02:44:37.977Z,1628909077.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:44:38.387Z,1628909078.387 [Micromodem](INFO): Nmea in: $SNTTA,0.442551,0.401989,,,024438.29*52

2021-08-14T02:44:38.423Z,1628909078.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.360008 m, bearing: 100.818421 deg, deltaT: 4.448429 s, approachRate: 0.768812 m/s, LOS rate: 1.575452 deg/s, posRepo size: 4
2021-08-14T02:44:40.859Z,1628909080.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:44:41.212Z,1628909081.212 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:44:41.213Z,1628909081.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:44:41.213Z,1628909081.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:44:41.214Z,1628909081.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:44:41.609Z,1628909081.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,00885,188,80,80,5D,FF
2021-08-14T02:44:41.609Z,1628909081.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:44:41.609Z,1628909081.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:44:41.611Z,1628909081.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:44:42.020Z,1628909082.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:44:42.413Z,1628909082.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,008BB,188,80,80,88,FF
2021-08-14T02:44:42.413Z,1628909082.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:44:42.865Z,1628909082.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024442.74*59

2021-08-14T02:44:42.891Z,1628909082.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.600006 m, bearing: 98.239492 deg, deltaT: 4.495436 s, approachRate: 0.720730 m/s, LOS rate: -0.573677 deg/s, posRepo size: 4
2021-08-14T02:44:45.269Z,1628909085.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:44:45.647Z,1628909085.647 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:44:45.664Z,1628909085.664 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:44:45.667Z,1628909085.667 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:44:45.688Z,1628909085.688 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:44:46.053Z,1628909086.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,008BB,188,80,80,88,FF
2021-08-14T02:44:46.053Z,1628909086.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:44:46.054Z,1628909086.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:44:46.055Z,1628909086.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:44:46.472Z,1628909086.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:44:46.857Z,1628909086.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC9,000,008F0,189,80,80,4A,FF
2021-08-14T02:44:46.858Z,1628909086.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:44:47.309Z,1628909087.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024447.18*56

2021-08-14T02:44:47.335Z,1628909087.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.779999 m, bearing: 99.890868 deg, deltaT: 4.410401 s, approachRate: 0.721021 m/s, LOS rate: 0.374428 deg/s, posRepo size: 4
2021-08-14T02:44:49.769Z,1628909089.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:44:50.093Z,1628909090.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:44:50.093Z,1628909090.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:44:50.093Z,1628909090.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:44:50.094Z,1628909090.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:44:50.505Z,1628909090.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC9,000,008F0,189,80,80,4A,FF
2021-08-14T02:44:50.505Z,1628909090.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:44:50.505Z,1628909090.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:44:50.507Z,1628909090.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:44:50.937Z,1628909090.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:44:51.345Z,1628909091.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,00926,187,80,80,59,FF
2021-08-14T02:44:51.346Z,1628909091.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:44:51.769Z,1628909091.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024451.63*5D

2021-08-14T02:44:51.862Z,1628909091.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.020004 m, bearing: 96.389269 deg, deltaT: 4.481322 s, approachRate: 0.723002 m/s, LOS rate: -0.781376 deg/s, posRepo size: 4
2021-08-14T02:44:54.257Z,1628909094.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:44:54.569Z,1628909094.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:44:54.569Z,1628909094.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:44:54.569Z,1628909094.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:44:54.570Z,1628909094.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:44:54.969Z,1628909094.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,00926,187,80,80,59,FF
2021-08-14T02:44:54.969Z,1628909094.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:44:54.970Z,1628909094.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:44:54.971Z,1628909094.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:44:55.389Z,1628909095.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:44:55.773Z,1628909095.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,0095B,186,80,80,73,FF
2021-08-14T02:44:55.774Z,1628909095.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:44:56.257Z,1628909096.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024456.09*56

2021-08-14T02:44:56.341Z,1628909096.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.199997 m, bearing: 95.025587 deg, deltaT: 4.410196 s, approachRate: 0.721055 m/s, LOS rate: -0.309211 deg/s, posRepo size: 4
2021-08-14T02:44:58.311Z,1628909098.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:44:58.617Z,1628909098.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:44:58.617Z,1628909098.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:44:58.617Z,1628909098.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:44:58.618Z,1628909098.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:44:59.014Z,1628909099.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,0095B,186,80,80,73,FF
2021-08-14T02:44:59.014Z,1628909099.014 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:44:59.014Z,1628909099.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:44:59.016Z,1628909099.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:44:59.425Z,1628909099.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:44:59.841Z,1628909099.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,00988,187,80,80,7B,FF
2021-08-14T02:44:59.842Z,1628909099.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:45:00.293Z,1628909100.293 [Micromodem](INFO): Nmea in: $SNTTA,0.072026,0.475783,,,024500.14*53

2021-08-14T02:45:00.361Z,1628909100.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.900002 m, bearing: 97.480549 deg, deltaT: 4.087568 s, approachRate: 0.660541 m/s, LOS rate: 0.600592 deg/s, posRepo size: 4
2021-08-14T02:45:02.714Z,1628909102.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:45:03.057Z,1628909103.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:45:03.057Z,1628909103.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:45:03.058Z,1628909103.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:45:03.058Z,1628909103.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:45:03.477Z,1628909103.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DED,000,00988,187,80,80,7B,FF
2021-08-14T02:45:03.477Z,1628909103.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:45:03.477Z,1628909103.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:45:03.479Z,1628909103.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:45:03.864Z,1628909103.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:45:04.286Z,1628909104.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,009B9,186,80,80,4F,FF
2021-08-14T02:45:04.287Z,1628909104.287 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:45:04.710Z,1628909104.710 [Micromodem](INFO): Nmea in: $SNTTA,0.086194,,,,024504.60*43

2021-08-14T02:45:04.747Z,1628909104.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.840004 m, bearing: 92.567846 deg, deltaT: 4.466381 s, approachRate: 0.658252 m/s, LOS rate: -1.099929 deg/s, posRepo size: 4
2021-08-14T02:45:07.114Z,1628909107.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:45:07.502Z,1628909107.502 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:45:07.502Z,1628909107.502 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:45:07.502Z,1628909107.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:45:07.503Z,1628909107.503 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:45:07.897Z,1628909107.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,009B9,186,80,80,4F,FF
2021-08-14T02:45:07.897Z,1628909107.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:45:07.897Z,1628909107.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:45:07.899Z,1628909107.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:45:08.313Z,1628909108.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:45:08.729Z,1628909108.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,009EB,186,80,80,6F,FF
2021-08-14T02:45:08.730Z,1628909108.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:45:09.153Z,1628909109.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024509.02*56

2021-08-14T02:45:09.175Z,1628909109.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.839996 m, bearing: 94.502313 deg, deltaT: 4.402137 s, approachRate: 0.681485 m/s, LOS rate: 0.439438 deg/s, posRepo size: 4
2021-08-14T02:45:11.573Z,1628909111.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:45:11.937Z,1628909111.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:45:11.937Z,1628909111.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:45:11.937Z,1628909111.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:45:11.938Z,1628909111.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:45:12.349Z,1628909112.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,009EB,186,80,80,6F,FF
2021-08-14T02:45:12.349Z,1628909112.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:45:12.349Z,1628909112.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:45:12.351Z,1628909112.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:45:12.781Z,1628909112.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:45:13.157Z,1628909113.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,00A18,186,80,80,6A,FF
2021-08-14T02:45:13.157Z,1628909113.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:45:13.597Z,1628909113.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024513.47*5C

2021-08-14T02:45:13.635Z,1628909113.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.540001 m, bearing: 93.699923 deg, deltaT: 4.420633 s, approachRate: 0.610773 m/s, LOS rate: -0.181510 deg/s, posRepo size: 4
2021-08-14T02:45:16.001Z,1628909116.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:45:16.386Z,1628909116.386 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:45:16.386Z,1628909116.386 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:45:16.386Z,1628909116.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:45:16.387Z,1628909116.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:45:16.785Z,1628909116.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,00A18,186,80,80,6A,FF
2021-08-14T02:45:16.785Z,1628909116.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:45:16.785Z,1628909116.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:45:16.787Z,1628909116.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:45:17.197Z,1628909117.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:45:17.602Z,1628909117.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,00A54,186,80,80,67,FF
2021-08-14T02:45:17.602Z,1628909117.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:45:18.041Z,1628909118.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024517.91*53

2021-08-14T02:45:18.094Z,1628909118.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.139999 m, bearing: 89.790521 deg, deltaT: 4.447242 s, approachRate: 0.809490 m/s, LOS rate: -0.879062 deg/s, posRepo size: 4
2021-08-14T02:45:20.474Z,1628909120.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:45:20.825Z,1628909120.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:45:20.825Z,1628909120.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:45:20.825Z,1628909120.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:45:20.826Z,1628909120.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:45:21.237Z,1628909121.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,00A54,186,80,80,67,FF
2021-08-14T02:45:21.237Z,1628909121.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:45:21.237Z,1628909121.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:45:21.239Z,1628909121.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:45:21.637Z,1628909121.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:45:22.057Z,1628909122.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,00A87,185,80,80,77,FF
2021-08-14T02:45:22.057Z,1628909122.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:45:22.477Z,1628909122.477 [Micromodem](INFO): Nmea in: $SNTTA,0.096847,,,,024522.37*43

2021-08-14T02:45:22.524Z,1628909122.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.200005 m, bearing: 93.013933 deg, deltaT: 4.482768 s, approachRate: 0.682615 m/s, LOS rate: 0.719067 deg/s, posRepo size: 4
2021-08-14T02:45:24.921Z,1628909124.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:45:25.274Z,1628909125.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:45:25.274Z,1628909125.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:45:25.274Z,1628909125.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:45:25.275Z,1628909125.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:45:25.762Z,1628909125.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,00A87,185,80,80,77,FF
2021-08-14T02:45:25.763Z,1628909125.763 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:45:25.763Z,1628909125.763 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:45:25.775Z,1628909125.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:45:26.097Z,1628909126.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:45:26.901Z,1628909126.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,00ABF,186,80,80,75,FF
2021-08-14T02:45:26.902Z,1628909126.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:45:27.317Z,1628909127.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024526.90*50

2021-08-14T02:45:27.353Z,1628909127.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.560005 m, bearing: 92.769774 deg, deltaT: 4.886233 s, approachRate: 0.687646 m/s, LOS rate: -0.049969 deg/s, posRepo size: 4
2021-08-14T02:45:29.825Z,1628909129.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:45:30.133Z,1628909130.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:45:30.133Z,1628909130.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:45:30.133Z,1628909130.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:45:30.134Z,1628909130.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:45:30.525Z,1628909130.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,00ABF,186,80,80,75,FF
2021-08-14T02:45:30.525Z,1628909130.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:45:30.525Z,1628909130.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:45:30.527Z,1628909130.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:45:30.933Z,1628909130.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:45:31.345Z,1628909131.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,00B02,189,80,80,5F,FF
2021-08-14T02:45:31.345Z,1628909131.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:45:31.777Z,1628909131.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024531.65*5C

2021-08-14T02:45:31.819Z,1628909131.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.580002 m, bearing: 36.349546 deg, deltaT: 4.392980 s, approachRate: 0.915096 m/s, LOS rate: -12.843270 deg/s, posRepo size: 4
2021-08-14T02:45:34.227Z,1628909134.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:45:34.565Z,1628909134.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:45:34.565Z,1628909134.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:45:34.565Z,1628909134.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:45:34.566Z,1628909134.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:45:34.977Z,1628909134.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,00B02,189,80,80,5F,FF
2021-08-14T02:45:34.977Z,1628909134.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:45:34.978Z,1628909134.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:45:34.979Z,1628909134.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:45:35.376Z,1628909135.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:45:35.785Z,1628909135.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,00B33,186,80,80,5B,FF
2021-08-14T02:45:35.785Z,1628909135.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:45:36.249Z,1628909136.249 [Micromodem](INFO): Nmea in: $SNTTA,0.097789,,,,024536.10*4F

2021-08-14T02:45:36.334Z,1628909136.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.520004 m, bearing: 92.519495 deg, deltaT: 4.462443 s, approachRate: 0.658832 m/s, LOS rate: 12.587264 deg/s, posRepo size: 4
2021-08-14T02:45:38.647Z,1628909138.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:45:39.013Z,1628909139.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:45:39.013Z,1628909139.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:45:39.013Z,1628909139.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:45:39.014Z,1628909139.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:45:39.425Z,1628909139.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,00B33,186,80,80,5B,FF
2021-08-14T02:45:39.425Z,1628909139.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:45:39.425Z,1628909139.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:45:39.427Z,1628909139.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:45:39.859Z,1628909139.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:45:40.245Z,1628909140.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32A,000,00B66,189,80,80,77,FF
2021-08-14T02:45:40.245Z,1628909140.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:45:40.673Z,1628909140.673 [Micromodem](INFO): Nmea in: $SNTTA,0.095864,,,,024540.55*41

2021-08-14T02:45:40.735Z,1628909140.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.580002 m, bearing: 31.456600 deg, deltaT: 4.494803 s, approachRate: 0.680786 m/s, LOS rate: -13.585221 deg/s, posRepo size: 4
2021-08-14T02:45:43.073Z,1628909143.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:45:43.457Z,1628909143.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:45:43.457Z,1628909143.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:45:43.457Z,1628909143.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:45:43.458Z,1628909143.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:45:43.857Z,1628909143.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32A,000,00B66,189,80,80,77,FF
2021-08-14T02:45:43.857Z,1628909143.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:45:43.857Z,1628909143.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:45:43.859Z,1628909143.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:45:44.264Z,1628909144.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:45:44.681Z,1628909144.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EB,000,00B9B,189,80,80,70,FF
2021-08-14T02:45:44.682Z,1628909144.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:45:45.109Z,1628909145.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024544.98*5C

2021-08-14T02:45:45.132Z,1628909145.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.760010 m, bearing: 34.406514 deg, deltaT: 4.421606 s, approachRate: 0.719198 m/s, LOS rate: 0.667159 deg/s, posRepo size: 4
2021-08-14T02:45:47.530Z,1628909147.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:45:47.901Z,1628909147.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:45:47.901Z,1628909147.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:45:47.901Z,1628909147.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:45:47.902Z,1628909147.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:45:48.309Z,1628909148.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EB,000,00B9B,189,80,80,70,FF
2021-08-14T02:45:48.309Z,1628909148.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:45:48.310Z,1628909148.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:45:48.311Z,1628909148.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:45:48.756Z,1628909148.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:45:49.137Z,1628909149.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,307,000,00BD1,189,80,80,68,FF
2021-08-14T02:45:49.137Z,1628909149.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:45:49.565Z,1628909149.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024549.44*50

2021-08-14T02:45:49.599Z,1628909149.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.000000 m, bearing: 33.156026 deg, deltaT: 4.388610 s, approachRate: 0.738273 m/s, LOS rate: -0.284939 deg/s, posRepo size: 4
2021-08-14T02:45:52.005Z,1628909152.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:45:52.354Z,1628909152.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:45:52.354Z,1628909152.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:45:52.354Z,1628909152.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:45:52.355Z,1628909152.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:45:52.757Z,1628909152.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
307,000,00BD1,189,80,80,68,FF
2021-08-14T02:45:52.758Z,1628909152.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:45:52.758Z,1628909152.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:45:52.776Z,1628909152.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:45:53.173Z,1628909153.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:45:53.581Z,1628909153.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FC,000,00C07,188,80,80,68,FF
2021-08-14T02:45:53.581Z,1628909153.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:45:54.005Z,1628909154.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024553.90*52

2021-08-14T02:45:54.055Z,1628909154.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.240005 m, bearing: 33.147605 deg, deltaT: 4.445668 s, approachRate: 0.728801 m/s, LOS rate: -0.001894 deg/s, posRepo size: 4
2021-08-14T02:45:56.470Z,1628909156.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:45:56.809Z,1628909156.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:45:56.809Z,1628909156.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:45:56.809Z,1628909156.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:45:56.810Z,1628909156.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:45:57.217Z,1628909157.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FC,000,00C07,188,80,80,68,FF
2021-08-14T02:45:57.217Z,1628909157.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:45:57.217Z,1628909157.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:45:57.219Z,1628909157.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:45:57.621Z,1628909157.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:45:58.025Z,1628909158.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E3,000,00C3C,189,80,80,68,FF
2021-08-14T02:45:58.026Z,1628909158.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:45:58.434Z,1628909158.434 [Micromodem](INFO): Nmea in: $SNTTA,0.102042,0.376516,,,024558.34*52

2021-08-14T02:45:58.489Z,1628909158.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.419998 m, bearing: 33.438823 deg, deltaT: 4.487461 s, approachRate: 0.708640 m/s, LOS rate: 0.064896 deg/s, posRepo size: 4
2021-08-14T02:46:00.869Z,1628909160.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:46:01.254Z,1628909161.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:46:01.254Z,1628909161.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:46:01.255Z,1628909161.255 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:46:01.256Z,1628909161.256 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:46:01.649Z,1628909161.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E3,000,00C3C,189,80,80,68,FF
2021-08-14T02:46:01.649Z,1628909161.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:46:01.649Z,1628909161.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:46:01.651Z,1628909161.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:46:02.067Z,1628909162.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:46:02.470Z,1628909162.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,00C72,189,80,80,70,FF
2021-08-14T02:46:02.470Z,1628909162.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:46:02.905Z,1628909162.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024602.77*5C

2021-08-14T02:46:02.942Z,1628909162.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.660004 m, bearing: 36.427479 deg, deltaT: 4.452289 s, approachRate: 0.727717 m/s, LOS rate: 0.671263 deg/s, posRepo size: 4
2021-08-14T02:46:05.344Z,1628909165.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:46:05.692Z,1628909165.692 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:46:05.693Z,1628909165.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:46:05.693Z,1628909165.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:46:05.695Z,1628909165.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:46:06.098Z,1628909166.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,00C72,189,80,80,70,FF
2021-08-14T02:46:06.098Z,1628909166.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:46:06.098Z,1628909166.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:46:06.101Z,1628909166.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:46:06.505Z,1628909166.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:46:06.910Z,1628909166.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,00CA8,189,80,80,70,FF
2021-08-14T02:46:06.910Z,1628909166.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:46:07.337Z,1628909167.337 [Micromodem](INFO): Nmea in: $SNTTA,0.113104,,,,024607.23*40

2021-08-14T02:46:07.382Z,1628909167.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.900009 m, bearing: 33.592766 deg, deltaT: 4.435687 s, approachRate: 0.730440 m/s, LOS rate: -0.639070 deg/s, posRepo size: 4
2021-08-14T02:46:09.787Z,1628909169.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:46:10.153Z,1628909170.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:46:10.153Z,1628909170.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:46:10.154Z,1628909170.154 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:46:10.155Z,1628909170.155 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:46:10.553Z,1628909170.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,00CA8,189,80,80,70,FF
2021-08-14T02:46:10.553Z,1628909170.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:46:10.553Z,1628909170.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:46:10.555Z,1628909170.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:46:10.957Z,1628909170.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:46:11.354Z,1628909171.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D4,000,00CA8,189,80,80,70,FF
2021-08-14T02:46:11.355Z,1628909171.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:46:11.794Z,1628909171.794 [Micromodem](INFO): Nmea in: $SNTTA,0.108873,,,,024611.68*4B

2021-08-14T02:46:11.843Z,1628909171.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.900009 m, bearing: 33.256690 deg, deltaT: 4.403050 s, approachRate: 0.000000 m/s, LOS rate: -0.076328 deg/s, posRepo size: 4
2021-08-14T02:46:14.279Z,1628909174.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:46:14.584Z,1628909174.584 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:46:14.584Z,1628909174.584 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:46:14.585Z,1628909174.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:46:14.586Z,1628909174.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:46:14.985Z,1628909174.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D4,000,00CA8,189,80,80,70,FF
2021-08-14T02:46:14.985Z,1628909174.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:46:14.985Z,1628909174.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:46:14.987Z,1628909174.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:46:15.389Z,1628909175.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:46:15.794Z,1628909175.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,00D0B,189,80,80,70,FF
2021-08-14T02:46:15.794Z,1628909175.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:46:16.254Z,1628909176.254 [Micromodem](INFO): Nmea in: $SNTTA,0.490487,0.490981,,,024616.11*52

2021-08-14T02:46:16.323Z,1628909176.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.840012 m, bearing: 92.369730 deg, deltaT: 4.487874 s, approachRate: 1.323567 m/s, LOS rate: 13.171724 deg/s, posRepo size: 4
2021-08-14T02:46:18.638Z,1628909178.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:46:19.025Z,1628909179.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:46:19.025Z,1628909179.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:46:19.026Z,1628909179.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:46:19.027Z,1628909179.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:46:19.436Z,1628909179.436 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,00D0B,189,80,80,70,FF
2021-08-14T02:46:19.436Z,1628909179.436 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:46:19.437Z,1628909179.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:46:19.438Z,1628909179.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:46:19.841Z,1628909179.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:46:20.246Z,1628909180.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,00D0B,189,80,80,70,FF
2021-08-14T02:46:20.246Z,1628909180.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:46:20.677Z,1628909180.677 [Micromodem](INFO): Nmea in: $SNTTA,,0.304852,,,024620.56*49

2021-08-14T02:46:20.761Z,1628909180.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.840012 m, bearing: 92.695755 deg, deltaT: 4.468107 s, approachRate: 0.000000 m/s, LOS rate: 0.072967 deg/s, posRepo size: 4
2021-08-14T02:46:23.117Z,1628909183.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:46:23.469Z,1628909183.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:46:23.469Z,1628909183.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:46:23.469Z,1628909183.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:46:23.470Z,1628909183.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:46:23.875Z,1628909183.875 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E37,000,00D0B,189,80,80,70,FF
2021-08-14T02:46:23.875Z,1628909183.875 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:46:23.875Z,1628909183.875 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:46:23.877Z,1628909183.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:46:24.279Z,1628909184.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:46:24.685Z,1628909184.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37F,000,00325,18A,80,80,1E,FF
2021-08-14T02:46:24.686Z,1628909184.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:46:25.124Z,1628909185.124 [Micromodem](INFO): Nmea in: $SNTTA,0.085697,,,,024625.00*42

2021-08-14T02:46:25.151Z,1628909185.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 24.612515 deg, deltaT: 4.429025 s, approachRate: -34.328098 m/s, LOS rate: -15.372061 deg/s, posRepo size: 4
2021-08-14T02:46:25.517Z,1628909185.517 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T02:46:25.517Z,1628909185.517 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:46:25.517Z,1628909185.517 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T02:46:25.518Z,1628909185.518 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T02:46:25.518Z,1628909185.518 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T02:46:25.518Z,1628909185.518 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T02:46:25.933Z,1628909185.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T02:46:25.933Z,1628909185.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:46:25.933Z,1628909185.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T02:46:25.933Z,1628909185.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T02:46:27.545Z,1628909187.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:46:27.905Z,1628909187.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:46:27.905Z,1628909187.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:46:27.906Z,1628909187.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:46:27.907Z,1628909187.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:46:28.314Z,1628909188.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37F,000,00325,18A,80,80,1E,FF
2021-08-14T02:46:28.314Z,1628909188.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:46:28.314Z,1628909188.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:46:28.315Z,1628909188.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:46:28.748Z,1628909188.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:46:29.126Z,1628909189.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,304,000,00325,18A,80,80,1E,FF
2021-08-14T02:46:29.126Z,1628909189.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:46:29.186Z,1628909189.186 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:46:29.570Z,1628909189.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024629.44*55

2021-08-14T02:46:29.591Z,1628909189.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 30.974686 deg, deltaT: 4.419759 s, approachRate: 0.000000 m/s, LOS rate: 1.439484 deg/s, posRepo size: 4
2021-08-14T02:46:31.992Z,1628909191.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:46:32.361Z,1628909192.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:46:32.361Z,1628909192.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:46:32.361Z,1628909192.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:46:32.362Z,1628909192.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:46:32.765Z,1628909192.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
304,000,00325,18A,80,80,1E,FF
2021-08-14T02:46:32.765Z,1628909192.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:46:32.766Z,1628909192.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:46:32.767Z,1628909192.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:46:33.173Z,1628909193.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:46:33.574Z,1628909193.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FF,000,00325,18A,80,80,1E,FF
2021-08-14T02:46:33.574Z,1628909193.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:46:33.605Z,1628909193.605 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:46:34.009Z,1628909194.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024633.89*5F

2021-08-14T02:46:34.035Z,1628909194.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 31.521139 deg, deltaT: 4.419094 s, approachRate: 0.000000 m/s, LOS rate: 0.123657 deg/s, posRepo size: 4
2021-08-14T02:46:36.439Z,1628909196.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:46:36.801Z,1628909196.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:46:36.801Z,1628909196.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:46:36.801Z,1628909196.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:46:36.802Z,1628909196.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:46:37.201Z,1628909197.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FF,000,00325,18A,80,80,1E,FF
2021-08-14T02:46:37.201Z,1628909197.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:46:37.201Z,1628909197.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:46:37.203Z,1628909197.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:46:37.613Z,1628909197.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:46:38.441Z,1628909198.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,00E1C,189,80,80,56,FF
2021-08-14T02:46:38.441Z,1628909198.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:46:38.444Z,1628909198.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024638.33*55

2021-08-14T02:46:38.482Z,1628909198.482 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T02:46:38.869Z,1628909198.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.220016 m, bearing: 34.052533 deg, deltaT: 4.877302 s, approachRate: 34.531387 m/s, LOS rate: 0.519015 deg/s, posRepo size: 4
2021-08-14T02:46:39.253Z,1628909199.253 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T02:46:39.253Z,1628909199.253 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:46:39.253Z,1628909199.253 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T02:46:39.254Z,1628909199.254 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T02:46:39.254Z,1628909199.254 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T02:46:39.254Z,1628909199.254 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T02:46:39.673Z,1628909199.673 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T02:46:39.673Z,1628909199.673 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:46:39.674Z,1628909199.674 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T02:46:39.674Z,1628909199.674 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T02:46:41.286Z,1628909201.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:46:41.651Z,1628909201.651 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:46:41.651Z,1628909201.651 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:46:41.652Z,1628909201.652 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:46:41.653Z,1628909201.653 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:46:42.055Z,1628909202.055 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,00E1C,189,80,80,56,FF
2021-08-14T02:46:42.055Z,1628909202.055 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:46:42.055Z,1628909202.055 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:46:42.057Z,1628909202.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:46:42.456Z,1628909202.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:46:42.870Z,1628909202.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,299,000,00E1C,189,80,80,56,FF
2021-08-14T02:46:42.870Z,1628909202.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:46:43.306Z,1628909203.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024643.18*50

2021-08-14T02:46:43.347Z,1628909203.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.220016 m, bearing: 36.941338 deg, deltaT: 4.446045 s, approachRate: 0.000000 m/s, LOS rate: 0.649747 deg/s, posRepo size: 4
2021-08-14T02:46:45.762Z,1628909205.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:46:46.089Z,1628909206.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:46:46.089Z,1628909206.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:46:46.089Z,1628909206.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:46:46.090Z,1628909206.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:46:46.501Z,1628909206.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
299,000,00E1C,189,80,80,56,FF
2021-08-14T02:46:46.502Z,1628909206.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:46:46.502Z,1628909206.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:46:46.503Z,1628909206.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:46:46.909Z,1628909206.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:46:47.757Z,1628909207.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,00E8F,189,80,80,64,FF
2021-08-14T02:46:47.757Z,1628909207.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:46:47.760Z,1628909207.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024647.63*58

2021-08-14T02:46:48.158Z,1628909208.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.119995 m, bearing: 33.905397 deg, deltaT: 4.862915 s, approachRate: 1.418898 m/s, LOS rate: -0.624305 deg/s, posRepo size: 4
2021-08-14T02:46:50.591Z,1628909210.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:46:50.937Z,1628909210.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:46:50.937Z,1628909210.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:46:50.937Z,1628909210.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:46:50.938Z,1628909210.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:46:51.350Z,1628909211.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,00E8F,189,80,80,64,FF
2021-08-14T02:46:51.351Z,1628909211.351 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:46:51.351Z,1628909211.351 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:46:51.353Z,1628909211.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:46:51.769Z,1628909211.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:46:52.577Z,1628909212.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,00EC9,189,80,80,5E,FF
2021-08-14T02:46:52.577Z,1628909212.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:46:52.581Z,1628909212.581 [Micromodem](INFO): Nmea in: $SNTTA,,0.307731,,,024652.48*4A

2021-08-14T02:46:53.003Z,1628909213.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.599991 m, bearing: 34.700021 deg, deltaT: 4.864734 s, approachRate: 0.715352 m/s, LOS rate: 0.163344 deg/s, posRepo size: 4
2021-08-14T02:46:55.405Z,1628909215.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:46:55.785Z,1628909215.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:46:55.785Z,1628909215.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:46:55.785Z,1628909215.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:46:55.786Z,1628909215.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:46:56.229Z,1628909216.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,00EC9,189,80,80,5E,FF
2021-08-14T02:46:56.229Z,1628909216.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:46:56.229Z,1628909216.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:46:56.231Z,1628909216.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:46:56.610Z,1628909216.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:46:57.416Z,1628909217.416 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,00F04,189,80,80,68,FF
2021-08-14T02:46:57.417Z,1628909217.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:46:57.444Z,1628909217.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024657.36*59

2021-08-14T02:46:57.850Z,1628909217.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.139999 m, bearing: 32.275915 deg, deltaT: 4.822557 s, approachRate: 0.734052 m/s, LOS rate: -0.502660 deg/s, posRepo size: 4
2021-08-14T02:47:00.323Z,1628909220.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:47:00.633Z,1628909220.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:47:00.633Z,1628909220.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:47:00.633Z,1628909220.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:47:00.634Z,1628909220.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:47:01.046Z,1628909221.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,00F04,189,80,80,68,FF
2021-08-14T02:47:01.046Z,1628909221.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:47:01.046Z,1628909221.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:47:01.048Z,1628909221.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:47:01.448Z,1628909221.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:47:02.269Z,1628909222.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C3,000,00F42,189,80,80,68,FF
2021-08-14T02:47:02.270Z,1628909222.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:47:02.274Z,1628909222.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024702.17*5B

2021-08-14T02:47:02.743Z,1628909222.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.860001 m, bearing: 35.817652 deg, deltaT: 4.885794 s, approachRate: 0.761391 m/s, LOS rate: 0.724905 deg/s, posRepo size: 4
2021-08-14T02:47:05.106Z,1628909225.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:47:05.490Z,1628909225.490 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:47:05.490Z,1628909225.490 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:47:05.490Z,1628909225.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:47:05.491Z,1628909225.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:47:05.889Z,1628909225.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C3,000,00F42,189,80,80,68,FF
2021-08-14T02:47:05.889Z,1628909225.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:47:05.889Z,1628909225.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:47:05.891Z,1628909225.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:47:06.307Z,1628909226.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:47:07.133Z,1628909227.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F9,000,00F78,18A,80,80,68,FF
2021-08-14T02:47:07.133Z,1628909227.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:47:07.137Z,1628909227.137 [Micromodem](INFO): Nmea in: $SNTTA,0.039126,,,,024707.02*4B

2021-08-14T02:47:07.554Z,1628909227.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.099991 m, bearing: 33.012534 deg, deltaT: 4.790199 s, approachRate: 0.676379 m/s, LOS rate: -0.585595 deg/s, posRepo size: 4
2021-08-14T02:47:09.973Z,1628909229.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:47:10.337Z,1628909230.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:47:10.337Z,1628909230.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:47:10.337Z,1628909230.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:47:10.338Z,1628909230.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:47:10.749Z,1628909230.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,00F78,18A,80,80,68,FF
2021-08-14T02:47:10.749Z,1628909230.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:47:10.749Z,1628909230.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:47:10.751Z,1628909230.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:47:11.151Z,1628909231.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:47:11.969Z,1628909231.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,00FBA,187,80,80,71,FF
2021-08-14T02:47:11.969Z,1628909231.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:47:11.997Z,1628909231.997 [Micromodem](INFO): Nmea in: $SNTTA,0.138315,,,,024711.88*4C

2021-08-14T02:47:12.414Z,1628909232.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.059982 m, bearing: 93.328893 deg, deltaT: 4.895034 s, approachRate: 0.808981 m/s, LOS rate: 12.321950 deg/s, posRepo size: 4
2021-08-14T02:47:12.785Z,1628909232.785 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:47:14.837Z,1628909234.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:47:15.185Z,1628909235.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:47:15.185Z,1628909235.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:47:15.185Z,1628909235.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:47:15.186Z,1628909235.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:47:15.648Z,1628909235.648 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,00FBA,187,80,80,71,FF
2021-08-14T02:47:15.648Z,1628909235.648 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:47:15.648Z,1628909235.648 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:47:15.650Z,1628909235.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:47:16.009Z,1628909236.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:47:16.815Z,1628909236.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,00FF7,186,80,80,72,FF
2021-08-14T02:47:16.817Z,1628909236.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:47:16.824Z,1628909236.824 [Micromodem](INFO): Nmea in: $SNTTA,0.140253,,,,024716.78*48

2021-08-14T02:47:17.235Z,1628909237.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.719986 m, bearing: 93.073355 deg, deltaT: 4.855850 s, approachRate: 0.753731 m/s, LOS rate: -0.052625 deg/s, posRepo size: 4
2021-08-14T02:47:19.650Z,1628909239.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:47:20.105Z,1628909240.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:47:20.105Z,1628909240.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:47:20.105Z,1628909240.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:47:20.106Z,1628909240.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:47:20.437Z,1628909240.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,00FF7,186,80,80,72,FF
2021-08-14T02:47:20.437Z,1628909240.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:47:20.437Z,1628909240.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:47:20.439Z,1628909240.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:47:20.872Z,1628909240.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:47:21.706Z,1628909241.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,0103E,187,80,80,60,FF
2021-08-14T02:47:21.707Z,1628909241.707 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:47:21.710Z,1628909241.710 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024721.57*5E

2021-08-14T02:47:22.109Z,1628909242.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.979980 m, bearing: 91.966906 deg, deltaT: 4.872589 s, approachRate: 0.874277 m/s, LOS rate: -0.227076 deg/s, posRepo size: 4
2021-08-14T02:47:24.535Z,1628909244.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:47:24.928Z,1628909244.928 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:47:24.929Z,1628909244.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:47:24.929Z,1628909244.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:47:24.930Z,1628909244.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:47:25.298Z,1628909245.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,0103E,187,80,80,60,FF
2021-08-14T02:47:25.298Z,1628909245.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:47:25.298Z,1628909245.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:47:25.305Z,1628909245.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:47:25.740Z,1628909245.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:47:26.537Z,1628909246.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E64,000,01073,186,80,80,70,FF
2021-08-14T02:47:26.537Z,1628909246.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:47:26.540Z,1628909246.540 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024726.43*5C

2021-08-14T02:47:26.962Z,1628909246.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.159988 m, bearing: 89.377472 deg, deltaT: 4.841732 s, approachRate: 0.656791 m/s, LOS rate: -0.534816 deg/s, posRepo size: 4
2021-08-14T02:47:29.367Z,1628909249.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:47:29.762Z,1628909249.762 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:47:29.762Z,1628909249.762 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:47:29.762Z,1628909249.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:47:29.763Z,1628909249.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:47:30.149Z,1628909250.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E64,000,01073,186,80,80,70,FF
2021-08-14T02:47:30.149Z,1628909250.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:47:30.150Z,1628909250.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:47:30.173Z,1628909250.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:47:30.551Z,1628909250.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:47:31.358Z,1628909251.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,010B2,186,80,80,80,FF
2021-08-14T02:47:31.359Z,1628909251.359 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:47:31.382Z,1628909251.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024731.30*5E

2021-08-14T02:47:31.799Z,1628909251.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.939987 m, bearing: 90.755182 deg, deltaT: 4.798673 s, approachRate: 0.787718 m/s, LOS rate: 0.287102 deg/s, posRepo size: 4
2021-08-14T02:47:34.267Z,1628909254.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:47:34.586Z,1628909254.586 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:47:34.586Z,1628909254.586 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:47:34.586Z,1628909254.586 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:47:34.587Z,1628909254.587 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:47:34.989Z,1628909254.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,010B2,186,80,80,80,FF
2021-08-14T02:47:34.989Z,1628909254.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:47:34.989Z,1628909254.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:47:34.991Z,1628909254.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:47:35.412Z,1628909255.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:47:36.246Z,1628909256.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,010EB,187,80,80,7F,FF
2021-08-14T02:47:36.247Z,1628909256.247 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:47:36.253Z,1628909256.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024736.12*59

2021-08-14T02:47:36.635Z,1628909256.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.360001 m, bearing: 89.725518 deg, deltaT: 4.924730 s, approachRate: 0.694457 m/s, LOS rate: -0.209080 deg/s, posRepo size: 4
2021-08-14T02:47:39.071Z,1628909259.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:47:39.433Z,1628909259.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:47:39.433Z,1628909259.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:47:39.433Z,1628909259.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:47:39.434Z,1628909259.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:47:39.849Z,1628909259.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,010EB,187,80,80,7F,FF
2021-08-14T02:47:39.849Z,1628909259.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:47:39.849Z,1628909259.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:47:39.851Z,1628909259.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:47:40.269Z,1628909260.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:47:41.065Z,1628909261.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,01137,186,80,80,7A,FF
2021-08-14T02:47:41.065Z,1628909261.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:47:41.069Z,1628909261.069 [Micromodem](INFO): Nmea in: $SNTTA,0.096305,,,,024740.98*4D

2021-08-14T02:47:41.481Z,1628909261.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.919998 m, bearing: 90.632936 deg, deltaT: 4.821261 s, approachRate: 0.945810 m/s, LOS rate: 0.188212 deg/s, posRepo size: 4
2021-08-14T02:47:43.937Z,1628909263.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:47:44.290Z,1628909264.290 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:47:44.291Z,1628909264.291 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:47:44.291Z,1628909264.291 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:47:44.292Z,1628909264.292 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:47:44.709Z,1628909264.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,01137,186,80,80,7A,FF
2021-08-14T02:47:44.709Z,1628909264.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:47:44.709Z,1628909264.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:47:44.711Z,1628909264.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:47:45.092Z,1628909265.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:47:45.927Z,1628909265.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,01172,187,80,80,65,FF
2021-08-14T02:47:45.928Z,1628909265.928 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:47:45.931Z,1628909265.931 [Micromodem](INFO): Nmea in: $SNTTA,0.160900,,,,024745.84*42

2021-08-14T02:47:46.356Z,1628909266.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.459976 m, bearing: 92.829320 deg, deltaT: 4.820716 s, approachRate: 0.734326 m/s, LOS rate: 0.455614 deg/s, posRepo size: 4
2021-08-14T02:47:48.805Z,1628909268.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:47:49.141Z,1628909269.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:47:49.141Z,1628909269.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:47:49.141Z,1628909269.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:47:49.142Z,1628909269.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:47:49.533Z,1628909269.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,01172,187,80,80,65,FF
2021-08-14T02:47:49.533Z,1628909269.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:47:49.534Z,1628909269.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:47:49.535Z,1628909269.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:47:49.962Z,1628909269.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:47:50.351Z,1628909270.351 [Micromodem](INFO): Nmea in: $SNTTA,0.217047,0.217066,,,024750.66*59

2021-08-14T02:47:50.868Z,1628909270.868 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,011AF,189,80,80,58,FF
2021-08-14T02:47:50.869Z,1628909270.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:47:51.187Z,1628909271.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.119995 m, bearing: 34.134243 deg, deltaT: 4.963424 s, approachRate: 0.737398 m/s, LOS rate: -11.825522 deg/s, posRepo size: 4
2021-08-14T02:47:53.610Z,1628909273.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:47:53.981Z,1628909273.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:47:53.981Z,1628909273.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:47:53.981Z,1628909273.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:47:53.982Z,1628909273.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:47:54.381Z,1628909274.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,011AF,189,80,80,58,FF
2021-08-14T02:47:54.381Z,1628909274.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:47:54.381Z,1628909274.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:47:54.383Z,1628909274.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:47:54.788Z,1628909274.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:47:55.671Z,1628909275.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,011E2,187,80,80,6F,FF
2021-08-14T02:47:55.674Z,1628909275.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:47:55.684Z,1628909275.684 [Micromodem](INFO): Nmea in: $SNTTA,0.165118,,,,024755.51*4F

2021-08-14T02:47:56.043Z,1628909276.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.179993 m, bearing: 92.833138 deg, deltaT: 4.859647 s, approachRate: 0.629675 m/s, LOS rate: 12.078839 deg/s, posRepo size: 4
2021-08-14T02:47:58.462Z,1628909278.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:47:58.825Z,1628909278.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:47:58.825Z,1628909278.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:47:58.825Z,1628909278.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:47:58.826Z,1628909278.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:47:59.229Z,1628909279.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,011E2,187,80,80,6F,FF
2021-08-14T02:47:59.229Z,1628909279.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:47:59.230Z,1628909279.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:47:59.231Z,1628909279.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:47:59.650Z,1628909279.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:48:00.466Z,1628909280.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024800.36*55

2021-08-14T02:48:01.283Z,1628909281.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:48:02.865Z,1628909282.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,187,80,80,6F,FF
2021-08-14T02:48:02.865Z,1628909282.865 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,187,80,80,6F,FF
2021-08-14T02:48:02.865Z,1628909282.865 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:48:04.102Z,1628909284.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:48:04.481Z,1628909284.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:48:04.481Z,1628909284.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:48:04.481Z,1628909284.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:48:04.482Z,1628909284.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:48:04.889Z,1628909284.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,187,80,80,6F,FF
2021-08-14T02:48:04.889Z,1628909284.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:48:04.889Z,1628909284.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:48:04.891Z,1628909284.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:48:05.306Z,1628909285.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:48:06.129Z,1628909286.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,01267,189,80,80,67,FF
2021-08-14T02:48:06.129Z,1628909286.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:48:06.133Z,1628909286.133 [Micromodem](INFO): Nmea in: $SNTTA,,0.164489,,,024806.02*4C

2021-08-14T02:48:06.556Z,1628909286.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.159988 m, bearing: 37.062946 deg, deltaT: 10.408987 s, approachRate: 0.766645 m/s, LOS rate: -5.357889 deg/s, posRepo size: 4
2021-08-14T02:48:09.028Z,1628909289.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:48:09.358Z,1628909289.358 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:48:09.358Z,1628909289.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:48:09.358Z,1628909289.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:48:09.359Z,1628909289.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:48:09.768Z,1628909289.768 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,01267,189,80,80,67,FF
2021-08-14T02:48:09.768Z,1628909289.768 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:48:09.769Z,1628909289.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:48:09.770Z,1628909289.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:48:10.199Z,1628909290.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:48:10.571Z,1628909290.571 [Micromodem](INFO): Nmea in: $SNTTA,0.097483,0.137858,,,024810.90*59

2021-08-14T02:48:10.965Z,1628909290.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,012A9,189,80,80,6D,FF
2021-08-14T02:48:10.965Z,1628909290.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:48:11.415Z,1628909291.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.119995 m, bearing: 35.085876 deg, deltaT: 4.820639 s, approachRate: 0.821469 m/s, LOS rate: -0.410126 deg/s, posRepo size: 4
2021-08-14T02:48:13.836Z,1628909293.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:48:14.237Z,1628909294.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:48:14.237Z,1628909294.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:48:14.237Z,1628909294.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:48:14.238Z,1628909294.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:48:14.613Z,1628909294.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B2,000,012A9,189,80,80,6D,FF
2021-08-14T02:48:14.613Z,1628909294.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:48:14.613Z,1628909294.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:48:14.615Z,1628909294.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:48:15.009Z,1628909295.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:48:15.849Z,1628909295.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,012E2,189,80,80,66,FF
2021-08-14T02:48:15.849Z,1628909295.849 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:48:15.853Z,1628909295.853 [Micromodem](INFO): Nmea in: $SNTTA,0.170119,,,,024815.74*46

2021-08-14T02:48:16.309Z,1628909296.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.539993 m, bearing: 38.631536 deg, deltaT: 4.870078 s, approachRate: 0.702247 m/s, LOS rate: 0.728050 deg/s, posRepo size: 4
2021-08-14T02:48:16.310Z,1628909296.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 252.54 m. Resuming terminal guidance.
2021-08-14T02:48:16.310Z,1628909296.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T02:48:18.663Z,1628909298.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:48:19.053Z,1628909299.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:48:19.053Z,1628909299.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:48:19.053Z,1628909299.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:48:19.054Z,1628909299.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:48:19.449Z,1628909299.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,012E2,189,80,80,66,FF
2021-08-14T02:48:19.449Z,1628909299.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:48:19.449Z,1628909299.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:48:19.451Z,1628909299.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:48:19.860Z,1628909299.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:48:20.267Z,1628909300.267 [Micromodem](INFO): Nmea in: $SNTTA,0.257275,0.257462,,,024820.58*5F

2021-08-14T02:48:20.661Z,1628909300.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25B,000,01319,188,80,80,5F,FF
2021-08-14T02:48:20.661Z,1628909300.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:48:21.123Z,1628909301.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.839981 m, bearing: 39.988951 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T02:48:21.124Z,1628909301.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 39.988951deg and heading rate command to 0 deg/s.
2021-08-14T02:48:23.523Z,1628909303.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:48:23.890Z,1628909303.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:48:23.890Z,1628909303.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:48:23.890Z,1628909303.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:48:23.891Z,1628909303.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:48:24.309Z,1628909304.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25B,000,01319,188,80,80,5F,FF
2021-08-14T02:48:24.309Z,1628909304.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:48:24.309Z,1628909304.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:48:24.311Z,1628909304.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:48:24.721Z,1628909304.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:48:25.525Z,1628909305.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,0134E,189,80,80,6A,FF
2021-08-14T02:48:25.526Z,1628909305.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:48:25.553Z,1628909305.553 [Micromodem](INFO): Nmea in: $SNTTA,0.174433,,,,024825.44*4F

2021-08-14T02:48:25.975Z,1628909305.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.019989 m, bearing: 38.986235 deg, deltaT: 4.832205 s, approachRate: 0.658086 m/s, LOS rate: -0.207507 deg/s, posRepo size: 2
2021-08-14T02:48:25.977Z,1628909305.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.019989 m,
      bearing: 38.986235 deg,
      approachRate: 0.658086 m/s,
      LOS rate: -0.207507 deg/s,
      cmd update: -0.622521 deg/s,
      cmd heading: 39.988951 deg,
      new cmd heading: 39.988951 deg.

2021-08-14T02:48:28.395Z,1628909308.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:48:28.749Z,1628909308.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:48:28.749Z,1628909308.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:48:28.749Z,1628909308.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:48:28.750Z,1628909308.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:48:29.165Z,1628909309.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,0134E,189,80,80,6A,FF
2021-08-14T02:48:29.165Z,1628909309.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:48:29.165Z,1628909309.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:48:29.167Z,1628909309.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:48:29.553Z,1628909309.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:48:30.373Z,1628909310.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C26,000,01391,189,80,80,36,FF
2021-08-14T02:48:30.373Z,1628909310.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:48:30.376Z,1628909310.376 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024830.29*58

2021-08-14T02:48:30.823Z,1628909310.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.039978 m, bearing: 96.532730 deg, deltaT: 4.888170 s, approachRate: 0.822391 m/s, LOS rate: 11.772605 deg/s, posRepo size: 3
2021-08-14T02:48:30.825Z,1628909310.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.772605 deg/s. Setting heading cmd to target bearing of 96.532730deg and heading rate command to 0 deg/s.
2021-08-14T02:48:33.234Z,1628909313.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:48:33.593Z,1628909313.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:48:33.593Z,1628909313.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:48:33.593Z,1628909313.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:48:33.594Z,1628909313.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:48:33.998Z,1628909313.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C26,000,01391,189,80,80,36,FF
2021-08-14T02:48:33.998Z,1628909313.998 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:48:33.999Z,1628909313.999 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:48:34.001Z,1628909314.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:48:34.409Z,1628909314.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:48:35.229Z,1628909315.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,392,000,013B3,189,80,80,81,FF
2021-08-14T02:48:35.229Z,1628909315.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:48:35.252Z,1628909315.252 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024835.13*54

2021-08-14T02:48:35.680Z,1628909315.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.079987 m, bearing: 357.362601 deg, deltaT: 4.847880 s, approachRate: 0.420804 m/s, LOS rate: -20.456391 deg/s, posRepo size: 4
2021-08-14T02:48:35.688Z,1628909315.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.456391 deg/s. Setting heading cmd to target bearing of 357.362601deg and heading rate command to 0 deg/s.
2021-08-14T02:48:38.093Z,1628909318.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:48:38.445Z,1628909318.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:48:38.445Z,1628909318.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:48:38.445Z,1628909318.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:48:38.446Z,1628909318.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:48:38.846Z,1628909318.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
392,000,013B3,189,80,80,81,FF
2021-08-14T02:48:38.846Z,1628909318.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:48:38.846Z,1628909318.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:48:38.848Z,1628909318.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:48:39.248Z,1628909319.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:48:40.081Z,1628909320.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,013EB,187,80,80,80,FF
2021-08-14T02:48:40.081Z,1628909320.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:48:40.084Z,1628909320.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024839.97*54

2021-08-14T02:48:40.552Z,1628909320.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.440002 m, bearing: 82.087734 deg, deltaT: 4.915375 s, approachRate: 0.683573 m/s, LOS rate: 17.236758 deg/s, posRepo size: 4
2021-08-14T02:48:40.553Z,1628909320.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.236758 deg/s. Setting heading cmd to target bearing of 82.087734deg and heading rate command to 0 deg/s.
2021-08-14T02:48:42.911Z,1628909322.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:48:43.282Z,1628909323.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:48:43.282Z,1628909323.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:48:43.283Z,1628909323.283 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:48:43.284Z,1628909323.284 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:48:43.700Z,1628909323.700 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,013EB,187,80,80,80,FF
2021-08-14T02:48:43.701Z,1628909323.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:48:43.702Z,1628909323.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:48:43.729Z,1628909323.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:48:44.105Z,1628909324.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:48:44.908Z,1628909324.908 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,01424,187,80,80,5A,FF
2021-08-14T02:48:44.909Z,1628909324.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:48:44.917Z,1628909324.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024844.86*5E

2021-08-14T02:48:45.343Z,1628909325.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.859985 m, bearing: 43.493869 deg, deltaT: 4.796167 s, approachRate: 0.713066 m/s, LOS rate: -8.046814 deg/s, posRepo size: 4
2021-08-14T02:48:45.346Z,1628909325.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.859985 m,
      bearing: 43.493869 deg,
      approachRate: 0.713066 m/s,
      LOS rate: -8.046814 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 82.087734 deg,
      new cmd heading: 82.087734 deg.

2021-08-14T02:48:47.794Z,1628909327.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:48:48.133Z,1628909328.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:48:48.133Z,1628909328.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:48:48.134Z,1628909328.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:48:48.135Z,1628909328.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:48:48.545Z,1628909328.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,01424,187,80,80,5A,FF
2021-08-14T02:48:48.545Z,1628909328.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:48:48.545Z,1628909328.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:48:48.547Z,1628909328.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:48:48.949Z,1628909328.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:48:49.780Z,1628909329.780 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,01461,182,80,80,74,FF
2021-08-14T02:48:49.781Z,1628909329.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:48:49.783Z,1628909329.783 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024849.68*53

2021-08-14T02:48:50.247Z,1628909330.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 275.519989 m, bearing: 75.870581 deg, deltaT: 4.795230 s, approachRate: 0.763259 m/s, LOS rate: 6.751858 deg/s, posRepo size: 4
2021-08-14T02:48:50.249Z,1628909330.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.519989 m,
      bearing: 75.870581 deg,
      approachRate: 0.763259 m/s,
      LOS rate: 6.751858 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 24.497513 deg,
      new cmd heading: 19.255085 deg.

2021-08-14T02:48:52.599Z,1628909332.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:48:52.985Z,1628909332.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:48:52.985Z,1628909332.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:48:52.985Z,1628909332.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:48:52.986Z,1628909332.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:48:53.397Z,1628909333.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,01461,182,80,80,74,FF
2021-08-14T02:48:53.397Z,1628909333.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:48:53.397Z,1628909333.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:48:53.399Z,1628909333.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:48:53.801Z,1628909333.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:48:54.259Z,1628909334.259 [Micromodem](INFO): Nmea in: $SNTTA,0.322650,0.322163,,,024854.52*51

2021-08-14T02:48:55.446Z,1628909335.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:48:57.021Z,1628909337.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,182,80,80,74,FF
2021-08-14T02:48:57.021Z,1628909337.021 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,182,80,80,74,FF
2021-08-14T02:48:57.021Z,1628909337.021 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:48:58.321Z,1628909338.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:48:58.645Z,1628909338.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:48:58.645Z,1628909338.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:48:58.645Z,1628909338.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:48:58.646Z,1628909338.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:48:59.049Z,1628909339.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,182,80,80,74,FF
2021-08-14T02:48:59.049Z,1628909339.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:48:59.049Z,1628909339.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:48:59.051Z,1628909339.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:48:59.448Z,1628909339.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:49:00.304Z,1628909340.304 [Micromodem](INFO): Nmea in: $SNTTA,0.190631,,,,024900.18*4A

2021-08-14T02:49:01.078Z,1628909341.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:02.681Z,1628909342.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,182,80,80,74,FF
2021-08-14T02:49:02.682Z,1628909342.682 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,182,80,80,74,FF
2021-08-14T02:49:02.683Z,1628909342.683 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:49:03.923Z,1628909343.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:04.312Z,1628909344.312 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:49:04.312Z,1628909344.312 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:49:04.312Z,1628909344.312 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:49:04.313Z,1628909344.313 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:49:04.705Z,1628909344.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,182,80,80,74,FF
2021-08-14T02:49:04.705Z,1628909344.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:49:04.706Z,1628909344.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:49:04.716Z,1628909344.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:49:05.104Z,1628909345.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:49:05.920Z,1628909345.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024905.85*59

2021-08-14T02:49:06.769Z,1628909346.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:08.358Z,1628909348.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,182,80,80,74,FF
2021-08-14T02:49:08.358Z,1628909348.358 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,182,80,80,74,FF
2021-08-14T02:49:08.358Z,1628909348.358 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:49:09.574Z,1628909349.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:09.949Z,1628909349.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:49:09.949Z,1628909349.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:49:09.949Z,1628909349.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:49:09.950Z,1628909349.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:49:10.354Z,1628909350.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,182,80,80,74,FF
2021-08-14T02:49:10.354Z,1628909350.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:49:10.354Z,1628909350.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:49:10.356Z,1628909350.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:49:10.760Z,1628909350.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:49:11.594Z,1628909351.594 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024911.48*5D

2021-08-14T02:49:12.427Z,1628909352.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:13.989Z,1628909353.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,182,80,80,74,FF
2021-08-14T02:49:13.989Z,1628909353.989 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,182,80,80,74,FF
2021-08-14T02:49:13.989Z,1628909353.989 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:49:15.219Z,1628909355.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:15.609Z,1628909355.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:49:15.609Z,1628909355.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:49:15.609Z,1628909355.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:49:15.610Z,1628909355.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:49:16.013Z,1628909356.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,182,80,80,74,FF
2021-08-14T02:49:16.013Z,1628909356.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:49:16.013Z,1628909356.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:49:16.015Z,1628909356.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:49:16.424Z,1628909356.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:49:17.249Z,1628909357.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,015A3,187,80,80,36,FF
2021-08-14T02:49:17.250Z,1628909357.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:49:17.253Z,1628909357.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024917.14*52

2021-08-14T02:49:17.709Z,1628909357.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.839996 m, bearing: 108.244257 deg, deltaT: 27.459532 s, approachRate: 0.703581 m/s, LOS rate: 1.178959 deg/s, posRepo size: 4
2021-08-14T02:49:17.711Z,1628909357.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.839996 m,
      bearing: 108.244257 deg,
      approachRate: 0.703581 m/s,
      LOS rate: 1.178959 deg/s,
      cmd update: 3.536879 deg/s,
      cmd heading: 353.986105 deg,
      new cmd heading: 359.220805 deg.

2021-08-14T02:49:20.101Z,1628909360.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:20.465Z,1628909360.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:49:20.465Z,1628909360.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:49:20.465Z,1628909360.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:49:20.466Z,1628909360.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:49:20.857Z,1628909360.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
123,000,015A3,187,80,80,36,FF
2021-08-14T02:49:20.857Z,1628909360.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:49:20.857Z,1628909360.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:49:20.859Z,1628909360.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:49:21.275Z,1628909361.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:49:22.093Z,1628909362.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,015BD,188,80,80,40,FF
2021-08-14T02:49:22.093Z,1628909362.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:49:22.119Z,1628909362.119 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024921.99*52

2021-08-14T02:49:22.549Z,1628909362.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 296.399994 m, bearing: 87.842045 deg, deltaT: 4.941571 s, approachRate: 0.315689 m/s, LOS rate: -4.128689 deg/s, posRepo size: 4
2021-08-14T02:49:22.551Z,1628909362.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 296.399994 m,
      bearing: 87.842045 deg,
      approachRate: 0.315689 m/s,
      LOS rate: -4.128689 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 11.457599 deg,
      new cmd heading: 12.650075 deg.

2021-08-14T02:49:24.930Z,1628909364.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:25.322Z,1628909365.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:49:25.322Z,1628909365.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:49:25.322Z,1628909365.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:49:25.323Z,1628909365.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:49:25.735Z,1628909365.735 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
212,000,015BD,188,80,80,40,FF
2021-08-14T02:49:25.735Z,1628909365.735 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:49:25.735Z,1628909365.735 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:49:25.737Z,1628909365.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:49:26.137Z,1628909366.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:49:26.181Z,1628909366.181 [Micromodem](INFO): Nmea in: 04,0.114891,,,024926.86*5D

2021-08-14T02:49:26.182Z,1628909366.182 [Micromodem](ERROR): Response from modem failed NMEA checksum: 04,0.114891,,,024926.86*5D
 expected 0
2021-08-14T02:49:26.929Z,1628909366.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,015F2,186,80,80,6B,FF
2021-08-14T02:49:26.929Z,1628909366.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:49:27.376Z,1628909367.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 299.579987 m, bearing: 102.318481 deg, deltaT: 4.765431 s, approachRate: 0.667304 m/s, LOS rate: 3.037802 deg/s, posRepo size: 4
2021-08-14T02:49:27.378Z,1628909367.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.579987 m,
      bearing: 102.318481 deg,
      approachRate: 0.667304 m/s,
      LOS rate: 3.037802 deg/s,
      cmd update: 9.113406 deg/s,
      cmd heading: 314.227293 deg,
      new cmd heading: 309.437217 deg.

2021-08-14T02:49:29.801Z,1628909369.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:30.175Z,1628909370.175 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:49:30.176Z,1628909370.176 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:49:30.177Z,1628909370.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:49:30.178Z,1628909370.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:49:30.561Z,1628909370.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,015F2,186,80,80,6B,FF
2021-08-14T02:49:30.561Z,1628909370.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:49:30.561Z,1628909370.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:49:30.563Z,1628909370.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:49:30.973Z,1628909370.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:49:31.790Z,1628909371.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024931.69*5C

2021-08-14T02:49:32.617Z,1628909372.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:34.229Z,1628909374.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,6B,FF
2021-08-14T02:49:34.230Z,1628909374.230 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,6B,FF
2021-08-14T02:49:34.230Z,1628909374.230 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:49:35.435Z,1628909375.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:35.813Z,1628909375.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:49:35.813Z,1628909375.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:49:35.813Z,1628909375.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:49:35.814Z,1628909375.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:49:36.233Z,1628909376.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,6B,FF
2021-08-14T02:49:36.233Z,1628909376.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:49:36.234Z,1628909376.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:49:36.235Z,1628909376.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:49:36.634Z,1628909376.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:49:37.442Z,1628909377.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024937.36*50

2021-08-14T02:49:38.317Z,1628909378.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:39.846Z,1628909379.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,6B,FF
2021-08-14T02:49:39.846Z,1628909379.846 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,6B,FF
2021-08-14T02:49:39.846Z,1628909379.846 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:49:41.089Z,1628909381.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:41.466Z,1628909381.466 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:49:41.466Z,1628909381.466 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:49:41.467Z,1628909381.467 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:49:41.467Z,1628909381.467 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:49:41.869Z,1628909381.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,6B,FF
2021-08-14T02:49:41.869Z,1628909381.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:49:41.870Z,1628909381.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:49:41.871Z,1628909381.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:49:42.288Z,1628909382.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:49:43.110Z,1628909383.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17E,000,016B4,187,80,80,23,FF
2021-08-14T02:49:43.111Z,1628909383.111 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:49:43.115Z,1628909383.115 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024943.00*56

2021-08-14T02:49:43.528Z,1628909383.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 311.220001 m, bearing: 24.796320 deg, deltaT: 16.164465 s, approachRate: 0.720099 m/s, LOS rate: -4.795838 deg/s, posRepo size: 4
2021-08-14T02:49:43.530Z,1628909383.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 311.220001 m,
      bearing: 24.796320 deg,
      approachRate: 0.720099 m/s,
      LOS rate: -4.795838 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 101.535953 deg,
      new cmd heading: 105.062194 deg.

2021-08-14T02:49:45.941Z,1628909385.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:46.317Z,1628909386.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:49:46.317Z,1628909386.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:49:46.318Z,1628909386.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:49:46.319Z,1628909386.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:49:46.745Z,1628909386.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17E,000,016B4,187,80,80,23,FF
2021-08-14T02:49:46.745Z,1628909386.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:49:46.745Z,1628909386.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:49:46.747Z,1628909386.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:49:47.125Z,1628909387.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:49:47.942Z,1628909387.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024947.88*52

2021-08-14T02:49:48.793Z,1628909388.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:50.349Z,1628909390.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,23,FF
2021-08-14T02:49:50.349Z,1628909390.349 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,23,FF
2021-08-14T02:49:50.349Z,1628909390.349 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:49:51.583Z,1628909391.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:51.978Z,1628909391.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:49:51.978Z,1628909391.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:49:51.978Z,1628909391.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:49:51.979Z,1628909391.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:49:52.373Z,1628909392.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,23,FF
2021-08-14T02:49:52.373Z,1628909392.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:49:52.373Z,1628909392.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:49:52.375Z,1628909392.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:49:52.784Z,1628909392.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:49:53.606Z,1628909393.606 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024953.50*52

2021-08-14T02:49:54.439Z,1628909394.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:56.017Z,1628909396.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,23,FF
2021-08-14T02:49:56.017Z,1628909396.017 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,23,FF
2021-08-14T02:49:56.017Z,1628909396.017 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:49:57.251Z,1628909397.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:49:57.621Z,1628909397.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:49:57.621Z,1628909397.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:49:57.621Z,1628909397.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:49:57.622Z,1628909397.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:49:58.031Z,1628909398.031 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,23,FF
2021-08-14T02:49:58.031Z,1628909398.031 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:49:58.031Z,1628909398.031 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:49:58.033Z,1628909398.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:49:58.444Z,1628909398.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:49:59.258Z,1628909399.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024959.16*5A

2021-08-14T02:50:00.135Z,1628909400.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:50:01.680Z,1628909401.680 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,23,FF
2021-08-14T02:50:01.681Z,1628909401.681 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,23,FF
2021-08-14T02:50:01.682Z,1628909401.682 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:50:02.915Z,1628909402.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:50:03.278Z,1628909403.278 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:50:03.278Z,1628909403.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:50:03.278Z,1628909403.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:50:03.279Z,1628909403.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:50:03.690Z,1628909403.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,23,FF
2021-08-14T02:50:03.690Z,1628909403.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:50:03.690Z,1628909403.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:50:03.697Z,1628909403.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:50:04.101Z,1628909404.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:50:04.491Z,1628909404.491 [Micromodem](INFO): Nmea in: $SNTTA,0.134101,0.133720,,,025004.83*54

2021-08-14T02:50:05.765Z,1628909405.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:50:07.325Z,1628909407.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,23,FF
2021-08-14T02:50:07.326Z,1628909407.326 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,23,FF
2021-08-14T02:50:07.326Z,1628909407.326 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:50:08.591Z,1628909408.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:50:08.933Z,1628909408.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:50:08.933Z,1628909408.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:50:08.933Z,1628909408.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:50:08.934Z,1628909408.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:50:09.346Z,1628909409.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,23,FF
2021-08-14T02:50:09.346Z,1628909409.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:50:09.346Z,1628909409.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:50:09.348Z,1628909409.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:50:09.761Z,1628909409.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:50:10.565Z,1628909410.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,017CA,188,80,80,70,FF
2021-08-14T02:50:10.565Z,1628909410.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:50:10.569Z,1628909410.569 [Micromodem](INFO): Nmea in: $SNTTA,0.220986,0.348355,,,025010.48*5F

2021-08-14T02:50:11.006Z,1628909411.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 327.899994 m, bearing: 336.646500 deg, deltaT: 27.602918 s, approachRate: 0.604284 m/s, LOS rate: -1.744374 deg/s, posRepo size: 4
2021-08-14T02:50:11.008Z,1628909411.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 327.899994 m,
      bearing: 336.646500 deg,
      approachRate: 0.604284 m/s,
      LOS rate: -1.744374 deg/s,
      cmd update: -5.233123 deg/s,
      cmd heading: 130.364276 deg,
      new cmd heading: 127.156916 deg.

2021-08-14T02:50:13.411Z,1628909413.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:50:13.785Z,1628909413.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:50:13.785Z,1628909413.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:50:13.785Z,1628909413.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:50:13.786Z,1628909413.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:50:14.233Z,1628909414.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,017CA,188,80,80,70,FF
2021-08-14T02:50:14.233Z,1628909414.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:50:14.233Z,1628909414.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:50:14.235Z,1628909414.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:50:14.604Z,1628909414.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:50:15.405Z,1628909415.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,017E4,189,80,80,77,FF
2021-08-14T02:50:15.406Z,1628909415.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:50:15.413Z,1628909415.413 [Micromodem](INFO): Nmea in: $SNTTA,0.221637,,,,025015.36*45

2021-08-14T02:50:15.851Z,1628909415.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 329.459991 m, bearing: 331.413483 deg, deltaT: 4.726478 s, approachRate: 0.330055 m/s, LOS rate: -1.107171 deg/s, posRepo size: 4
2021-08-14T02:50:15.853Z,1628909415.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 329.459991 m,
      bearing: 331.413483 deg,
      approachRate: 0.330055 m/s,
      LOS rate: -1.107171 deg/s,
      cmd update: -3.321512 deg/s,
      cmd heading: 105.641157 deg,
      new cmd heading: 103.609010 deg.

2021-08-14T02:50:18.312Z,1628909418.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:50:18.645Z,1628909418.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:50:18.645Z,1628909418.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:50:18.646Z,1628909418.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:50:18.647Z,1628909418.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:50:19.049Z,1628909419.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,017E4,189,80,80,77,FF
2021-08-14T02:50:19.049Z,1628909419.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:50:19.049Z,1628909419.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:50:19.051Z,1628909419.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:50:19.453Z,1628909419.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:50:20.257Z,1628909420.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B5,000,0180E,189,80,80,4A,FF
2021-08-14T02:50:20.257Z,1628909420.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:50:20.261Z,1628909420.261 [Micromodem](INFO): Nmea in: $SNTTA,0.223077,0.456593,,,025020.18*59

2021-08-14T02:50:20.728Z,1628909420.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 331.979980 m, bearing: 350.970281 deg, deltaT: 4.869562 s, approachRate: 0.517498 m/s, LOS rate: 4.016131 deg/s, posRepo size: 4
2021-08-14T02:50:20.730Z,1628909420.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.979980 m,
      bearing: 350.970281 deg,
      approachRate: 0.517498 m/s,
      LOS rate: 4.016131 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 89.441728 deg,
      new cmd heading: 88.165387 deg.

2021-08-14T02:50:23.102Z,1628909423.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:50:23.491Z,1628909423.491 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:50:23.491Z,1628909423.491 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:50:23.491Z,1628909423.491 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:50:23.492Z,1628909423.492 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:50:23.885Z,1628909423.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B5,000,0180E,189,80,80,4A,FF
2021-08-14T02:50:23.885Z,1628909423.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:50:23.885Z,1628909423.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:50:23.887Z,1628909423.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:50:24.307Z,1628909424.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:50:25.133Z,1628909425.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CEB,000,01838,189,80,80,44,FF
2021-08-14T02:50:25.133Z,1628909425.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:50:25.136Z,1628909425.136 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025025.02*5C

2021-08-14T02:50:25.531Z,1628909425.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 334.500000 m, bearing: 83.768391 deg, deltaT: 4.811573 s, approachRate: 0.523741 m/s, LOS rate: 19.286439 deg/s, posRepo size: 4
2021-08-14T02:50:25.532Z,1628909425.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.286439 deg/s. Setting heading cmd to target bearing of 83.768391deg and heading rate command to 0 deg/s.
2021-08-14T02:50:27.963Z,1628909427.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:50:28.337Z,1628909428.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:50:28.337Z,1628909428.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:50:28.337Z,1628909428.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:50:28.338Z,1628909428.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:50:28.749Z,1628909428.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CEB,000,01838,189,80,80,44,FF
2021-08-14T02:50:28.749Z,1628909428.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:50:28.749Z,1628909428.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:50:28.751Z,1628909428.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:50:29.141Z,1628909429.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:50:29.958Z,1628909429.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7E,000,01868,189,80,80,4C,FF
2021-08-14T02:50:29.958Z,1628909429.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:50:29.961Z,1628909429.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025029.88*52

2021-08-14T02:50:30.403Z,1628909430.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 337.379974 m, bearing: 109.316993 deg, deltaT: 4.851801 s, approachRate: 0.593589 m/s, LOS rate: 5.265798 deg/s, posRepo size: 4
2021-08-14T02:50:30.406Z,1628909430.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.379974 m,
      bearing: 109.316993 deg,
      approachRate: 0.593589 m/s,
      LOS rate: 5.265798 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 83.768391 deg,
      new cmd heading: 83.768391 deg.

2021-08-14T02:50:32.807Z,1628909432.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:50:33.177Z,1628909433.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:50:33.177Z,1628909433.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:50:33.178Z,1628909433.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:50:33.179Z,1628909433.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:50:33.581Z,1628909433.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7E,000,01868,189,80,80,4C,FF
2021-08-14T02:50:33.581Z,1628909433.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:50:33.581Z,1628909433.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:50:33.583Z,1628909433.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:50:33.989Z,1628909433.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:50:34.813Z,1628909434.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,018A0,183,80,80,5B,FF
2021-08-14T02:50:34.814Z,1628909434.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:50:34.816Z,1628909434.816 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025034.71*58

2021-08-14T02:50:35.238Z,1628909435.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 340.740021 m, bearing: 86.988292 deg, deltaT: 4.867448 s, approachRate: 0.690310 m/s, LOS rate: -4.587353 deg/s, posRepo size: 4
2021-08-14T02:50:35.240Z,1628909435.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 340.740021 m,
      bearing: 86.988292 deg,
      approachRate: 0.690310 m/s,
      LOS rate: -4.587353 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 142.323244 deg,
      new cmd heading: 146.775544 deg.

2021-08-14T02:50:37.674Z,1628909437.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:50:38.033Z,1628909438.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:50:38.033Z,1628909438.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:50:38.033Z,1628909438.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:50:38.034Z,1628909438.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:50:38.433Z,1628909438.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,018A0,183,80,80,5B,FF
2021-08-14T02:50:38.433Z,1628909438.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:50:38.433Z,1628909438.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:50:38.435Z,1628909438.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:50:38.837Z,1628909438.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:50:39.696Z,1628909439.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025039.57*51

2021-08-14T02:50:40.514Z,1628909440.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:50:42.073Z,1628909442.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,183,80,80,5B,FF
2021-08-14T02:50:42.074Z,1628909442.074 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,183,80,80,5B,FF
2021-08-14T02:50:42.074Z,1628909442.074 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:50:43.315Z,1628909443.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:50:43.709Z,1628909443.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:50:43.709Z,1628909443.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:50:43.709Z,1628909443.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:50:43.710Z,1628909443.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:50:44.093Z,1628909444.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,183,80,80,5B,FF
2021-08-14T02:50:44.093Z,1628909444.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:50:44.093Z,1628909444.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:50:44.095Z,1628909444.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:50:44.492Z,1628909444.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:50:45.317Z,1628909445.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,01907,187,80,80,51,FF
2021-08-14T02:50:45.317Z,1628909445.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:50:45.320Z,1628909445.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025045.22*58

2021-08-14T02:50:45.782Z,1628909445.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 346.920013 m, bearing: 114.739460 deg, deltaT: 10.464548 s, approachRate: 0.590565 m/s, LOS rate: 2.651922 deg/s, posRepo size: 4
2021-08-14T02:50:45.804Z,1628909445.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 346.920013 m,
      bearing: 114.739460 deg,
      approachRate: 0.590565 m/s,
      LOS rate: 2.651922 deg/s,
      cmd update: 7.955767 deg/s,
      cmd heading: 16.700616 deg,
      new cmd heading: 11.343528 deg.

2021-08-14T02:50:48.218Z,1628909448.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:50:48.529Z,1628909448.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:50:48.529Z,1628909448.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:50:48.529Z,1628909448.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:50:48.530Z,1628909448.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:50:48.941Z,1628909448.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,01907,187,80,80,51,FF
2021-08-14T02:50:48.941Z,1628909448.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:50:48.941Z,1628909448.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:50:48.943Z,1628909448.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:50:49.349Z,1628909449.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:50:50.199Z,1628909450.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,01934,187,80,80,38,FF
2021-08-14T02:50:50.199Z,1628909450.199 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T02:50:50.202Z,1628909450.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025050.07*5B

2021-08-14T02:50:50.590Z,1628909450.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 349.619995 m, bearing: 119.662551 deg, deltaT: 4.944338 s, approachRate: 0.546075 m/s, LOS rate: 0.995703 deg/s, posRepo size: 4
2021-08-14T02:50:50.592Z,1628909450.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.619995 m,
      bearing: 119.662551 deg,
      approachRate: 0.546075 m/s,
      LOS rate: 0.995703 deg/s,
      cmd update: 2.987108 deg/s,
      cmd heading: 55.948085 deg,
      new cmd heading: 58.500136 deg.

2021-08-14T02:50:53.135Z,1628909453.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T02:50:53.377Z,1628909453.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:50:53.377Z,1628909453.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:50:53.377Z,1628909453.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:50:53.378Z,1628909453.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:50:53.809Z,1628909453.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,01934,187,80,80,38,FF
2021-08-14T02:50:53.809Z,1628909453.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:50:53.809Z,1628909453.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:50:53.811Z,1628909453.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:50:54.232Z,1628909454.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:50:55.015Z,1628909455.015 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025054.94*55

2021-08-14T02:50:55.823Z,1628909455.823 [lineCaptureDepth](INFO): Timed out from 2021-08-14T00:50:55.7Z
2021-08-14T02:50:55.823Z,1628909455.823 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-14T02:50:55.823Z,1628909455.823 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-14T02:50:55.823Z,1628909455.823 [lineCaptureDepth] Stopped
2021-08-14T02:50:55.823Z,1628909455.823 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-14T02:50:55.823Z,1628909455.823 [lineCaptureDepth:Science] Stopped
2021-08-14T02:50:55.823Z,1628909455.823 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-14T02:50:55.824Z,1628909455.824 [lineCaptureDepth:Science:B] Stopped
2021-08-14T02:50:55.824Z,1628909455.824 [lineCaptureDepth:Science:C] Stopped
2021-08-14T02:50:55.824Z,1628909455.824 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-14T02:50:55.824Z,1628909455.824 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-14T02:50:55.824Z,1628909455.824 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-14T02:50:55.824Z,1628909455.824 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-14T02:50:55.824Z,1628909455.824 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-14T02:50:55.824Z,1628909455.824 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-14T02:50:55.825Z,1628909455.825 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T02:50:55.825Z,1628909455.825 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T02:50:55.825Z,1628909455.825 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T02:50:55.825Z,1628909455.825 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T02:50:55.825Z,1628909455.825 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T02:50:55.825Z,1628909455.825 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T02:50:55.825Z,1628909455.825 [lineCaptureDepth:TrackAC.] Stopped
2021-08-14T02:50:55.825Z,1628909455.825 [lineCaptureDepth:LineCapture] Stopped
2021-08-14T02:50:55.825Z,1628909455.825 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-14T02:50:55.825Z,1628909455.825 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-14T02:50:55.826Z,1628909455.826 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T02:50:55.826Z,1628909455.826 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T02:50:55.826Z,1628909455.826 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T02:50:55.826Z,1628909455.826 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T02:50:55.826Z,1628909455.826 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T02:50:55.826Z,1628909455.826 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T02:50:55.826Z,1628909455.826 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T02:50:55.826Z,1628909455.826 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-14T02:50:55.826Z,1628909455.826 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-14T02:50:55.826Z,1628909455.826 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T02:50:55.826Z,1628909455.826 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T02:50:55.826Z,1628909455.826 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T02:50:55.827Z,1628909455.827 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T02:50:55.827Z,1628909455.827 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T02:50:55.827Z,1628909455.827 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T02:50:55.827Z,1628909455.827 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T02:50:55.827Z,1628909455.827 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-14T02:50:55.827Z,1628909455.827 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T02:50:55.827Z,1628909455.827 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-14T02:50:55.827Z,1628909455.827 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T02:50:55.827Z,1628909455.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T02:50:55.827Z,1628909455.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T02:50:55.828Z,1628909455.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T02:50:55.828Z,1628909455.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T02:50:55.828Z,1628909455.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T02:50:55.828Z,1628909455.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T02:50:55.828Z,1628909455.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T02:50:55.828Z,1628909455.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-14T02:50:55.828Z,1628909455.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T02:50:55.829Z,1628909455.829 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T02:50:55.829Z,1628909455.829 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T02:50:55.829Z,1628909455.829 [lineCaptureDepth:Lap] Stopped
2021-08-14T02:50:55.829Z,1628909455.829 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-14T02:50:55.829Z,1628909455.829 [lineCaptureDepth:Lap:B] Stopped
2021-08-14T02:50:55.829Z,1628909455.829 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-14T02:50:56.066Z,1628909456.066 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-14T02:50:56.286Z,1628909456.286 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-14T02:50:56.286Z,1628909456.286 [DefaultWithUndock] Running Loop=1
2021-08-14T02:50:56.286Z,1628909456.286 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-14T02:50:56.287Z,1628909456.287 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-14T02:50:56.287Z,1628909456.287 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-14T02:51:26.505Z,1628909486.505 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-14T02:51:26.506Z,1628909486.506 [DefaultWithUndock:A.Wait] Stopped
2021-08-14T02:51:26.506Z,1628909486.506 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T02:51:26.506Z,1628909486.506 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-14T02:51:26.506Z,1628909486.506 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-14T02:51:26.506Z,1628909486.506 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-14T02:51:26.506Z,1628909486.506 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-14T02:51:26.507Z,1628909486.507 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-14T02:51:26.507Z,1628909486.507 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-14T02:51:26.507Z,1628909486.507 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T02:51:27.287Z,1628909487.287 [PowerOnly](INFO): Powering up loadControl
2021-08-14T02:51:28.137Z,1628909488.137 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:34.758163
2021-08-14T02:51:29.361Z,1628909489.361 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T02:51:29.769Z,1628909489.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:51:29.769Z,1628909489.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:51:29.769Z,1628909489.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:51:29.770Z,1628909489.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:51:29.802Z,1628909489.802 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-14T02:51:30.160Z,1628909490.160 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,01934,187,80,80,38,FF
2021-08-14T02:51:30.161Z,1628909490.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:51:30.161Z,1628909490.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:51:30.167Z,1628909490.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:51:30.296Z,1628909490.296 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T02:51:30.559Z,1628909490.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:51:30.589Z,1628909490.589 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-14T02:51:30.988Z,1628909490.988 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T02:51:31.358Z,1628909491.358 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025131.30*59

2021-08-14T02:51:32.232Z,1628909492.232 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T02:51:33.786Z,1628909493.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,38,FF
2021-08-14T02:51:33.787Z,1628909493.787 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,38,FF
2021-08-14T02:51:33.787Z,1628909493.787 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:51:35.011Z,1628909495.011 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T02:51:35.401Z,1628909495.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:51:35.401Z,1628909495.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:51:35.401Z,1628909495.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:51:35.402Z,1628909495.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:51:35.793Z,1628909495.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,38,FF
2021-08-14T02:51:35.793Z,1628909495.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:51:35.794Z,1628909495.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:51:35.795Z,1628909495.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:51:36.236Z,1628909496.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:51:37.026Z,1628909497.026 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025136.93*57

2021-08-14T02:51:37.843Z,1628909497.843 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T02:51:39.433Z,1628909499.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,38,FF
2021-08-14T02:51:39.433Z,1628909499.433 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,38,FF
2021-08-14T02:51:39.434Z,1628909499.434 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:51:40.661Z,1628909500.661 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T02:51:41.050Z,1628909501.050 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:51:41.051Z,1628909501.051 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:51:41.051Z,1628909501.051 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:51:41.052Z,1628909501.052 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:51:41.450Z,1628909501.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,38,FF
2021-08-14T02:51:41.450Z,1628909501.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:51:41.450Z,1628909501.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:51:41.465Z,1628909501.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:51:41.861Z,1628909501.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:51:42.271Z,1628909502.271 [Micromodem](INFO): Nmea in: $SNTTA,0.288236,0.288092,,,025142.60*54

2021-08-14T02:51:43.509Z,1628909503.509 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T02:51:45.098Z,1628909505.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,38,FF
2021-08-14T02:51:45.101Z,1628909505.101 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,38,FF
2021-08-14T02:51:45.101Z,1628909505.101 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:51:46.347Z,1628909506.347 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T02:51:46.729Z,1628909506.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:51:46.729Z,1628909506.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:51:46.729Z,1628909506.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:51:46.730Z,1628909506.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:51:47.109Z,1628909507.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,38,FF
2021-08-14T02:51:47.109Z,1628909507.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:51:47.109Z,1628909507.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:51:47.111Z,1628909507.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:51:47.517Z,1628909507.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:51:48.348Z,1628909508.348 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025148.24*52

2021-08-14T02:51:49.145Z,1628909509.145 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T02:51:50.761Z,1628909510.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,38,FF
2021-08-14T02:51:50.761Z,1628909510.761 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,38,FF
2021-08-14T02:51:50.761Z,1628909510.761 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T02:51:51.161Z,1628909511.161 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 349.62 m. Transitioning DDM to standby.
2021-08-14T02:51:51.991Z,1628909511.991 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T02:51:52.365Z,1628909512.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T02:51:52.365Z,1628909512.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T02:51:52.365Z,1628909512.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T02:51:52.366Z,1628909512.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T02:51:52.777Z,1628909512.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,38,FF
2021-08-14T02:51:52.777Z,1628909512.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T02:51:52.777Z,1628909512.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T02:51:52.779Z,1628909512.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T02:51:53.187Z,1628909513.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T02:51:53.616Z,1628909513.616 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-14T02:51:53.994Z,1628909513.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025153.91*56

2021-08-14T02:51:54.033Z,1628909514.033 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T02:51:54.033Z,1628909514.033 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-14T02:51:54.033Z,1628909514.033 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-14T02:51:54.033Z,1628909514.033 [DefaultWithUndock:LeaveDock] Stopped
2021-08-14T02:51:54.033Z,1628909514.033 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-14T02:51:54.033Z,1628909514.033 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-14T02:51:54.034Z,1628909514.034 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-14T02:51:54.034Z,1628909514.034 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-14T02:51:54.034Z,1628909514.034 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-14T02:51:54.034Z,1628909514.034 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-14T02:51:54.034Z,1628909514.034 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-14T02:51:54.034Z,1628909514.034 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-14T02:51:54.034Z,1628909514.034 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-14T02:51:54.034Z,1628909514.034 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-14T02:51:54.035Z,1628909514.035 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-14T02:51:54.035Z,1628909514.035 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-14T02:51:54.035Z,1628909514.035 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-14T02:51:54.040Z,1628909514.040 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-14T02:51:54.040Z,1628909514.040 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-14T02:51:54.406Z,1628909514.406 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-14T02:51:54.407Z,1628909514.407 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-14T02:51:54.407Z,1628909514.407 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-14T02:51:54.408Z,1628909514.408 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A](DEBUG): Initialize ReadDataComponent to sense Dock.docking_state
2021-08-14T02:51:54.817Z,1628909514.817 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm (1 active estimators).
2021-08-14T02:51:55.004Z,1628909515.004 [Radio_Surface](INFO): Powering up
2021-08-14T02:52:00.360Z,1628909520.360 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-14T02:52:26.340Z,1628909546.340 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-14T02:52:26.340Z,1628909546.340 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T02:52:26.341Z,1628909546.341 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T02:52:26.341Z,1628909546.341 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-14T02:52:26.341Z,1628909546.341 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-14T02:52:26.341Z,1628909546.341 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-14T02:52:26.341Z,1628909546.341 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-14T02:52:30.354Z,1628909550.354 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:52:30.492Z,1628909550.492 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T02:52:40.427Z,1628909560.427 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T02:52:54.549Z,1628909574.549 [NAL9602](INFO): SBD MO Status=0, MOMSN=23845, MT Status=0, MTMSN=0
2021-08-14T02:52:54.549Z,1628909574.549 [NAL9602](INFO): No messages in MT queue
2021-08-14T02:52:55.760Z,1628909575.760 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,025255.00,A,4133.24502,N,07042.15547,W,0.292,30.86,140821,,,A*44
2021-08-14T02:52:55.762Z,1628909575.762 [NAL9602](INFO): GPS fix at 20210814T025255: (41.554084, -70.702591)
2021-08-14T02:52:55.774Z,1628909575.774 [UniversalFixResidualReporter](INFO): Fix residual: 16.4 %DT, over the last 851.7 m. Residual distance 139.4 m at bearing -127.9 degrees. Fix at (41.5541, -70.7026) with 537.4 m made good.
2021-08-14T02:52:55.775Z,1628909575.775 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T02:52:55.776Z,1628909575.776 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T02:52:58.587Z,1628909578.587 [PowerOnly](INFO): Powering down loadControl
2021-08-14T02:53:02.398Z,1628909582.398 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T02:53:05.632Z,1628909585.632 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T02:53:14.650Z,1628909594.650 [NAL9602](INFO): SBD MO Status=1, MOMSN=23846, MT Status=0, MTMSN=0
2021-08-14T02:53:14.700Z,1628909594.700 [NAL9602](INFO): Sent 89 bytes from file Logs/20210814T003940/Courier0043.lzma
2021-08-14T02:53:14.700Z,1628909594.700 [NAL9602](INFO): Packets left to send: 0
2021-08-14T02:53:20.274Z,1628909600.274 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T02:53:21.880Z,1628909601.880 [NAL9602](INFO): SBD MO Status=1, MOMSN=23847, MT Status=0, MTMSN=0
2021-08-14T02:53:21.940Z,1628909601.940 [NAL9602](INFO): Sent 61 bytes from file Logs/20210814T003940/Express0017.lzma
2021-08-14T02:53:21.940Z,1628909601.940 [NAL9602](INFO): Packets left to send: 0
2021-08-14T02:53:31.055Z,1628909611.055 [NAL9602](INFO): SBD MO Status=1, MOMSN=23848, MT Status=0, MTMSN=0
2021-08-14T02:53:31.117Z,1628909611.117 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T003940/Express0020.lzma
2021-08-14T02:53:31.118Z,1628909611.118 [NAL9602](INFO): Packets left to send: 1
2021-08-14T02:53:40.405Z,1628909620.405 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:53:40.780Z,1628909620.780 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T02:53:41.184Z,1628909621.184 [NAL9602](INFO): SBD MO Status=1, MOMSN=23849, MT Status=0, MTMSN=0
2021-08-14T02:53:41.236Z,1628909621.236 [NAL9602](INFO): Sent 102 bytes from file Logs/20210814T003940/Express0020.lzma
2021-08-14T02:53:41.236Z,1628909621.236 [NAL9602](INFO): Packets left to send: 0
2021-08-14T02:53:50.068Z,1628909630.068 [NAL9602](INFO): SBD MO Status=1, MOMSN=23850, MT Status=0, MTMSN=0
2021-08-14T02:53:50.120Z,1628909630.120 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T003940/Express0023.lzma
2021-08-14T02:53:50.120Z,1628909630.120 [NAL9602](INFO): Packets left to send: 4
2021-08-14T02:53:51.047Z,1628909631.047 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T02:54:00.952Z,1628909640.952 [NAL9602](INFO): SBD MO Status=1, MOMSN=23851, MT Status=0, MTMSN=0
2021-08-14T02:54:01.017Z,1628909641.017 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T003940/Express0023.lzma
2021-08-14T02:54:01.017Z,1628909641.017 [NAL9602](INFO): Packets left to send: 3
2021-08-14T02:54:12.611Z,1628909652.611 [NAL9602](INFO): SBD MO Status=1, MOMSN=23852, MT Status=0, MTMSN=0
2021-08-14T02:54:12.664Z,1628909652.664 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T003940/Express0023.lzma
2021-08-14T02:54:12.664Z,1628909652.664 [NAL9602](INFO): Packets left to send: 2
2021-08-14T02:54:15.920Z,1628909655.920 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T02:54:24.653Z,1628909664.653 [NAL9602](INFO): SBD MO Status=1, MOMSN=23853, MT Status=0, MTMSN=0
2021-08-14T02:54:24.704Z,1628909664.704 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T003940/Express0023.lzma
2021-08-14T02:54:24.704Z,1628909664.704 [NAL9602](INFO): Packets left to send: 1
2021-08-14T02:54:43.172Z,1628909683.172 [NAL9602](INFO): SBD MO Status=2, MOMSN=23854, MT Status=2, MTMSN=0
2021-08-14T02:54:43.172Z,1628909683.172 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T02:54:51.060Z,1628909691.060 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T02:55:10.356Z,1628909710.356 [NAL9602](INFO): SBD MO Status=2, MOMSN=23854, MT Status=2, MTMSN=0
2021-08-14T02:55:10.357Z,1628909710.357 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T02:55:20.194Z,1628909720.194 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.010379
2021-08-14T02:55:24.202Z,1628909724.202 [DataOverHttps](INFO): Sending 776 bytes from file Logs/20210814T003940/Express0023.lzma
2021-08-14T02:55:25.202Z,1628909725.202 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Express0023.lzma.bak
2021-08-14T02:55:25.202Z,1628909725.202 [DataOverHttps](INFO): SBD MOMSN=435230
2021-08-14T02:55:34.241Z,1628909734.241 [DataOverHttps](INFO): Sending 209 bytes from file Logs/20210814T003940/Express0026.lzma
2021-08-14T02:55:35.242Z,1628909735.242 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Express0026.lzma.bak
2021-08-14T02:55:35.242Z,1628909735.242 [DataOverHttps](INFO): SBD MOMSN=435243
2021-08-14T02:55:38.552Z,1628909738.552 [NAL9602](INFO): SBD MO Status=2, MOMSN=23854, MT Status=2, MTMSN=0
2021-08-14T02:55:38.552Z,1628909738.552 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T02:55:44.280Z,1628909744.280 [DataOverHttps](INFO): Sending 295 bytes from file Logs/20210814T003940/Express0029.lzma
2021-08-14T02:55:45.282Z,1628909745.282 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Express0029.lzma.bak
2021-08-14T02:55:45.282Z,1628909745.282 [DataOverHttps](INFO): SBD MOMSN=435246
2021-08-14T02:55:53.903Z,1628909753.903 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-14T02:55:54.306Z,1628909754.306 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814025553.194865,06,712,22,0114,0150,89,01,01,01,02,5,-01,-01,2,3,2,0,150,-29.0,9.53,-100,-6.53,-01,-0.58,52,14500,4000*75

2021-08-14T02:55:54.320Z,1628909754.320 [DataOverHttps](INFO): Sending 263 bytes from file Logs/20210814T003940/Express0032.lzma
2021-08-14T02:55:55.322Z,1628909755.322 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Express0032.lzma.bak
2021-08-14T02:55:55.322Z,1628909755.322 [DataOverHttps](INFO): SBD MOMSN=435250
2021-08-14T02:56:04.361Z,1628909764.361 [DataOverHttps](INFO): Sending 159 bytes from file Logs/20210814T003940/Express0035.lzma
2021-08-14T02:56:05.362Z,1628909765.362 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Express0035.lzma.bak
2021-08-14T02:56:05.362Z,1628909765.362 [DataOverHttps](INFO): SBD MOMSN=435255
2021-08-14T02:56:09.252Z,1628909769.252 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T02:56:14.400Z,1628909774.400 [DataOverHttps](INFO): Sending 228 bytes from file Logs/20210814T003940/Express0038.lzma
2021-08-14T02:56:15.402Z,1628909775.402 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Express0038.lzma.bak
2021-08-14T02:56:15.402Z,1628909775.402 [DataOverHttps](INFO): SBD MOMSN=435257
2021-08-14T02:56:24.440Z,1628909784.440 [DataOverHttps](INFO): Sending 353 bytes from file Logs/20210814T003940/Express0041.lzma
2021-08-14T02:56:25.442Z,1628909785.442 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Express0041.lzma.bak
2021-08-14T02:56:25.442Z,1628909785.442 [DataOverHttps](INFO): SBD MOMSN=435260
2021-08-14T02:56:34.492Z,1628909794.492 [DataOverHttps](INFO): Sending 560 bytes from file Logs/20210814T003940/Express0044.lzma
2021-08-14T02:56:35.486Z,1628909795.486 [DataOverHttps](INFO): Moved sent file to Logs/20210814T003940/Express0044.lzma.bak
2021-08-14T02:56:35.487Z,1628909795.487 [DataOverHttps](INFO): SBD MOMSN=435263
2021-08-14T02:56:37.175Z,1628909797.175 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T02:56:37.175Z,1628909797.175 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-14T02:56:37.176Z,1628909797.176 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-14T02:57:16.653Z,1628909836.653 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T025716